fastcat::Fts Class Reference

Class implementing force-torque sensor through fastcat. More...

#include "fts.h"

Inheritance diagram for fastcat::Fts:

Collaboration diagram for fastcat::Fts:

Public Member Functions
	Fts ()
	Fts constructor.
bool	ConfigFromYaml (const YAML::Node &node) override
	Parses input yaml file to set sensor parameters.
bool	Read () override
	Calculates wrench (forces and torques) from input signals.
FaultType	Process () override
	Checks if forces and torques have exceeded acceptable maxima.
bool	Write (DeviceCmd &cmd) override
	Commands device. Only FtsTareCmd is accepted currently.
Public Member Functions inherited from fastcat::DeviceBase
virtual	~DeviceBase ()
virtual void	Fault ()
virtual void	Reset ()
virtual void	SetInitializationTime (double time_sec, double monotonic_time_sec)
void	RegisterCmdQueue (std::shared_ptr< ThreadSafeQueue< DeviceCmd > > cmd_queue)
std::string	GetName ()
std::shared_ptr< DeviceState >	GetState ()
void	SetTime (double time, double monotonic_time)
void	SetLoopPeriod (double loop_period)

Protected Attributes
std::vector< std::vector< double > >	calibration_
	Calibration matrix of doubles for wrench calculation.
double	wrench_ [FC_FTS_N_DIMS]
	Array where wrench values are stored.
double	sig_offset_ [FC_FTS_N_DIMS]
	Double array for storing tare offsets.
bool	enable_fts_guard_fault_ = true
double	max_force_ [3]
	these values, the entire fastcat system will fault.
double	max_torque_ [3]
Protected Attributes inherited from fastcat::DeviceBase
std::string	name_
	unique device name
double	last_monotonic_time_ = 0.0
double	loop_period_ = 0.0
	only some devices need
double	initialization_time_sec_ = -1
	only some devices need
double	monotonic_initialization_time_sec_ = -1
	only some devices need
bool	device_fault_active_ = false
	device-level fault, manager also has fault status flag
std::shared_ptr< DeviceState >	state_
	Fastcat state data.
std::shared_ptr< ThreadSafeQueue< DeviceCmd > >	cmd_queue_
	for intra-device commands

Additional Inherited Members
Public Attributes inherited from fastcat::DeviceBase
std::vector< Signal >	signals_

Detailed Description

Class implementing force-torque sensor through fastcat.

Constructor & Destructor Documentation

Fts()

fastcat::Fts::Fts

(

)

Fts constructor.

Member Function Documentation

ConfigFromYaml()

bool fastcat::Fts::ConfigFromYaml ( const YAML::Node &  node )

overridevirtual

Parses input yaml file to set sensor parameters.

Parameters

node	The portion of the yaml file corresponding to this FTS device.

Returns

True if configuration completes without error; false otherwise.

Implements fastcat::DeviceBase.

Reimplemented in fastcat::VirtualFts.

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Process()

fastcat::FaultType fastcat::Fts::Process ( )

overridevirtual

Checks if forces and torques have exceeded acceptable maxima.

Returns

FaultType enum value corresponding to appropriate fault state.

Reimplemented from fastcat::DeviceBase.

Read()

bool fastcat::Fts::Read ( )

overridevirtual

Calculates wrench (forces and torques) from input signals.

Returns

True if device state is read without error; false otherwise.

Implements fastcat::DeviceBase.

Reimplemented in fastcat::VirtualFts.

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Write()

bool fastcat::Fts::Write ( DeviceCmd &  cmd )

overridevirtual

Commands device. Only FtsTareCmd is accepted currently.

Parameters

cmd	Command provided to FTS device, of a type that is a subclass of DeviceCmd.

Returns

True if command is accepted; false otherwise.

Reimplemented from fastcat::DeviceBase.

Member Data Documentation

calibration_

std::vector<std::vector<double> > fastcat::Fts::calibration_

protected

Calibration matrix of doubles for wrench calculation.

enable_fts_guard_fault_

bool fastcat::Fts::enable_fts_guard_fault_ = true

protected

max_force_

double fastcat::Fts::max_force_[3]

protected

Initial value:

= {
                0, 0, 0}

these values, the entire fastcat system will fault.

If x,y,z axis of force components exceeds

max_torque_

double fastcat::Fts::max_torque_[3]

protected

Initial value:

= {
      0, 0, 0}

If x,y,z axis of torque components exceeds these values, the entire fastcat system will fault.

sig_offset_

double fastcat::Fts::sig_offset_[FC_FTS_N_DIMS]

protected

Initial value:

= {
      0}

Double array for storing tare offsets.

wrench_

double fastcat::Fts::wrench_[FC_FTS_N_DIMS]

protected

Initial value:

= {
      0}

Array where wrench values are stored.

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

• src/fastcat_devices/fts.h
• src/fastcat_devices/fts.cc