osaJR3ForceSensor Class Reference

#include <osaJR3ForceSensor.h>

Public Types
enum	Errno { ESUCCESS, EFAILURE }
enum	Units { METRIC }
typedef vctFixedSizeVector < double, 6 >	Wrench
typedef vctFixedSizeMatrix < double, 6, 6 >	vctAdjoint

Public Member Functions
	osaJR3ForceSensor ()
	Default constructor. More...
	osaJR3ForceSensor (const std::string &name, Units u=METRIC, const osaJR3ForceSensor::Wrench &bias=Wrench(0.0), const vctFrame4x4< double > &Rtst=vctFrame4x4< double >(), double mass=0.0, const vctFixedSizeVector< double, 3 > &com=vctFixedSizeVector< double, 3 >(0.0))
	Constructors. More...
	~osaJR3ForceSensor ()
	Destructor. More...
osaJR3ForceSensor::Errno	Open ()
	Open. More...
osaJR3ForceSensor::Errno	Close ()
	Close. More...
osaJR3ForceSensor::Errno	Read (osaJR3ForceSensor::Wrench &wrench, const vctMatrixRotation3< double > &R, bool transform=true, int filterId=0) const
	Read with tool compenstation. More...
osaJR3ForceSensor::Errno	Read (osaJR3ForceSensor::Wrench &wrench, bool transform=true, int filterId=0) const
	Read without tool compenstation. More...
void	SetMass (double m)
	Set tool mass. More...
void	SetCOM (const vctFixedSizeVector< double, 3 > &xyz)
	Set tool center of mass. More...
void	SetBias (const Wrench &vw)
	Set bias. More...
void	Zero (const vctFrame4x4< double > &Rtws)
	Set bias. More...
void	SetTransform (const vctFrame4x4< double > &Rt)
	Set frame transformation. More...
Wrench	US2SI (const Wrench &wus) const
	Convert US to SI. More...
Wrench	CompensateToolMass (const vctMatrixRotation3< double > &R) const
	Compensate for tool mass. More...

Static Public Member Functions
static vctAdjoint	Adjoint (const vctFrame4x4< double > &Rt)
	Compute adjoint matrix of Rt. More...

Member Typedef Documentation

typedef vctFixedSizeMatrix< double, 6, 6 > osaJR3ForceSensor::vctAdjoint

typedef vctFixedSizeVector< double, 6 > osaJR3ForceSensor::Wrench

Member Enumeration Documentation

enum osaJR3ForceSensor::Errno

Enumerator
ESUCCESS
EFAILURE

enum osaJR3ForceSensor::Units

Enumerator
METRIC

Constructor & Destructor Documentation

osaJR3ForceSensor::osaJR3ForceSensor ( )

inline

Default constructor.

osaJR3ForceSensor::osaJR3ForceSensor	(	const std::string &	name,
		Units	u = METRIC,
		const osaJR3ForceSensor::Wrench &	bias = Wrench(0.0),
		const vctFrame4x4< double > &	Rtst = vctFrame4x4< double >(),
		double	mass = 0.0,
		const vctFixedSizeVector< double, 3 > &	com = vctFixedSizeVector< double, 3 >(0.0)
	)

Constructors.

Parameters

name	device name e.g. /dev/comedi0
u	unit standard, default metric
bias	bias wrenchw
Rtst
mass	tool mass
com	tool center of mass

osaJR3ForceSensor::~osaJR3ForceSensor

(

)

Destructor.

Member Function Documentation

static vctAdjoint osaJR3ForceSensor::Adjoint ( const vctFrame4x4< double > &  Rt )

static

Compute adjoint matrix of Rt.

osaJR3ForceSensor::Errno osaJR3ForceSensor::Close

(

)

Close.

Wrench osaJR3ForceSensor::CompensateToolMass

(

const vctMatrixRotation3< double > &

R

)

const

Compensate for tool mass.

osaJR3ForceSensor::Errno osaJR3ForceSensor::Open

(

)

Open.

osaJR3ForceSensor::Errno osaJR3ForceSensor::Read	(	osaJR3ForceSensor::Wrench &	wrench,
		const vctMatrixRotation3< double > &	R,
		bool	transform = true,
		int	filterId = 0
	)		const

Read with tool compenstation.

Parameters

[out]	wrench	wrench data from sensor
	R	tool orientation
	transform	tranform wrench data to tip if set to true
	filterId	comedi filter ID

osaJR3ForceSensor::Errno osaJR3ForceSensor::Read	(	osaJR3ForceSensor::Wrench &	wrench,
		bool	transform = true,
		int	filterId = 0
	)		const

Read without tool compenstation.

Parameters

[out]	wrench	wrench data from sensor
	transform	tranform wrench data to tip if set to true
	filterId	comedi filter ID

void osaJR3ForceSensor::SetBias ( const Wrench &  vw )

inline

Set bias.

void osaJR3ForceSensor::SetCOM ( const vctFixedSizeVector< double, 3 > &  xyz )

inline

Set tool center of mass.

void osaJR3ForceSensor::SetMass ( double  m )

inline

Set tool mass.

void osaJR3ForceSensor::SetTransform ( const vctFrame4x4< double > &  Rt )

inline

Set frame transformation.

Wrench osaJR3ForceSensor::US2SI

(

const Wrench &

wus

)

const

Convert US to SI.

void osaJR3ForceSensor::Zero

(

const vctFrame4x4< double > &

Rtws

)

Set bias.

This method computes bias wrench and updates bias value. It compensates tool mass, thus need tool transform.

Parameters

Rtws	current tool transform

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The documentation for this class was generated from the following file:

• /home/adeguet1/catkin_ws/src/cisst-saw/sawJR3ForceSensor/include/sawJR3ForceSensor/osaJR3ForceSensor.h