fts.h

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#ifndef FASTCAT_FTS_H_
#define FASTCAT_FTS_H_
 
// Include related header (for cc files)
 
// Include c then c++ libraries
 
// Include external then project includes
#include "fastcat/device_base.h"
 
#define FC_FTS_N_DIMS 6
 
namespace fastcat
{
class Fts : public DeviceBase
{
 public:
  Fts();  
  bool ConfigFromYaml(const YAML::Node& node) override;
  bool Read() override;
  FaultType Process() override;
  bool Write(DeviceCmd& cmd) override;
 
 protected:
  std::vector<std::vector<double>>
      calibration_;  
  double wrench_[FC_FTS_N_DIMS] = {
      0};  
  double sig_offset_[FC_FTS_N_DIMS] = {
      0};  
 
  bool   enable_fts_guard_fault_ = true;
  double max_force_[3]           = {
                0, 0, 0};  
  double max_torque_[3] = {
      0, 0, 0};  
};
 
}  // namespace fastcat
 
#endif