fastcat::VirtualFts Class Reference

Class that takes in the output of an FTS device and applies a transform to it. More...

#include "virtual_fts.h"

Inheritance diagram for fastcat::VirtualFts:

Collaboration diagram for fastcat::VirtualFts:

Public Member Functions
	VirtualFts ()
	Fts constructor.
bool	ConfigFromYaml (const YAML::Node &node)
	Parses input yaml file to set sensor parameters.
bool	Read ()
	Calculates wrench (forces and torques) from input signals.
Public Member Functions inherited from fastcat::Fts
	Fts ()
	Fts constructor.
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)

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

Detailed Description

Class that takes in the output of an FTS device and applies a transform to it.

Constructor & Destructor Documentation

VirtualFts()

fastcat::VirtualFts::VirtualFts

(

)

Fts constructor.

Member Function Documentation

ConfigFromYaml()

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

virtual

Parses input yaml file to set sensor parameters.

Parameters

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

Returns

True if configuration completes without error; false otherwise.

Reimplemented from fastcat::Fts.

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Read()

bool fastcat::VirtualFts::Read ( )

virtual

Calculates wrench (forces and torques) from input signals.

Returns

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

Reimplemented from fastcat::Fts.

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

• src/fastcat_devices/virtual_fts.h
• src/fastcat_devices/virtual_fts.cc