roboticslab::Jr3Pci Class Reference

Implementation for the JR3 sensor (PCi board).

#include <Jr3Pci.hpp>

Inheritance diagram for roboticslab::Jr3Pci:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
bool	close () override
int	read (yarp::sig::Vector &out) override
int	getState (int ch) override
int	getChannels () override
int	calibrateSensor () override
int	calibrateSensor (const yarp::sig::Vector &value) override
int	calibrateChannel (int ch) override
int	calibrateChannel (int ch, double value) override
std::size_t	getNrOfSixAxisForceTorqueSensors () const override
yarp::dev::MAS_status	getSixAxisForceTorqueSensorStatus (std::size_t sens_index) const override
bool	getSixAxisForceTorqueSensorName (std::size_t sens_index, std::string &name) const override
bool	getSixAxisForceTorqueSensorFrameName (std::size_t sens_index, std::string &name) const override
bool	getSixAxisForceTorqueSensorMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override

Private Member Functions
void	loadFilters (int id)

Private Attributes
int	fd {0}
force_array	fs [4]
unsigned long int	filters [4]
std::vector< std::string >	names {"ch0", "ch1", "ch2", "ch3"}
bool	isDextrorotary {false}

Member Function Documentation

calibrateChannel() [1/2]

int Jr3Pci::calibrateChannel ( int  ch )

override

Calibrates one single channel.

Parameters

ch	channel number.

Returns

status.

calibrateChannel() [2/2]

int Jr3Pci::calibrateChannel ( int  ch, double  value  )

override

Calibrates one single channel, using a calibration value.

Parameters

ch	channel number.
value	calibration value.

Returns

status.

calibrateSensor() [1/2]

int Jr3Pci::calibrateSensor ( )

override

Calibrates the whole sensor.

Returns

status.

calibrateSensor() [2/2]

int Jr3Pci::calibrateSensor ( const yarp::sig::Vector &  value )

override

Calibrates the whole sensor, using an vector of calibration values.

Parameters

value

a vector of calibration values.

Returns

status.

getChannels()

int Jr3Pci::getChannels ( )

override

Get the number of channels of the sensor.

Returns

number of channels (0 in case of errors).

getState()

int Jr3Pci::getState ( int  ch )

override

Check the state value of a given channel.

Parameters

ch	channel number.

Returns

status.

read()

int Jr3Pci::read ( yarp::sig::Vector &  out )

override

Read a vector from the sensor.

Parameters

out	a vector containing the sensor's last readings.

Returns

AS_OK or return code. AS_TIMEOUT if the sensor timed-out.

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

• libraries/YarpPlugins/Jr3Pci/Jr3Pci.hpp
• libraries/YarpPlugins/Jr3Pci/DeviceDriverImpl.cpp
• libraries/YarpPlugins/Jr3Pci/IAnalogSensorImpl.cpp
• libraries/YarpPlugins/Jr3Pci/ISixAxisForceTorqueSensorsImpl.cpp