ForceTorqueHelper.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <memory>
 
#include <Eigen/Dense>
 
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
namespace armarx
{
    class DatafieldRef;
    using DatafieldRefPtr = IceInternal::Handle<DatafieldRef>;
 
    class ForceTorqueHelper;
    using ForceTorqueHelperPtr = std::shared_ptr<ForceTorqueHelper>;
 
    class ForceTorqueHelper
    {
    public:
        ForceTorqueHelper(const ForceTorqueUnitObserverInterfacePrx& forceTorqueObserver,
                          const std::string& FTDatefieldName);
 
        Eigen::Vector3f getForce();
        FramedDirection getFramedForce();
 
        Eigen::Vector3f getTorque();
 
        void setZero();
 
        DatafieldRefPtr forceDf;
        DatafieldRefPtr torqueDf;
        Eigen::Vector3f initialForce;
        Eigen::Vector3f initialTorque;
    };
} // namespace armarx