This class implements a TaskContext that communicates with a JR3-WrenchSensor. More...
#include <WrenchSensor.hpp>
Public Member Functions | |
| WrenchSensor (std::string name) | |
Protected Member Functions | |
| virtual bool | configureHook () |
| virtual bool | startHook () |
| This function contains the application's startup code. | |
| virtual void | updateHook () |
| This function is periodically called. | |
| virtual void | stopHook () |
| This function is called when the task is stopped. | |
| virtual void | cleanupHook () |
Protected Attributes | |
| RTT::DataPort< KDL::Wrench > | outdatPort |
| DataPort which contains Wrench information. | |
| RTT::Event< void(std::string)> | maximumLoadEvent |
| Event that is fired if the measured force exceeds the allowed maximum value. | |
| RTT::Method< KDL::Wrench(void)> | maxMeasurement_mtd |
| Method to get the maximum measurement value. | |
| RTT::Method< KDL::Wrench(void)> | minMeasurement_mtd |
| Method to get the minimum measurement value. | |
| RTT::Method< KDL::Wrench(void)> | zeroMeasurement_mtd |
| Method to get the zero measurement value. | |
| RTT::Command< bool(double)> | chooseFilter_cmd |
| Command to choose a different filter. | |
| RTT::Command< bool(KDL::Wrench)> | setOffset_cmd |
| Method to set the zero measurement offset. | |
| RTT::Command< bool(KDL::Wrench)> | addOffset_cmd |
| Method to add an offset to the zero measurement. | |
| RTT::Property< KDL::Wrench > | offset |
| RTT::Property< unsigned int > | dsp_prop |
| RTT::Property< double > | filter_period_prop |
This class implements a TaskContext that communicates with a JR3-WrenchSensor.
It should be executed by a periodic activity. Real sensor information is only supplied if the activity is running in lxrt and the jr3-driver is succesfully loaded.
Definition at line 58 of file WrenchSensor.hpp.
| WrenchSensor | ( | std::string | name | ) |
Method Factory Interface.
Definition at line 48 of file WrenchSensor.cpp.
References WrenchSensor::addOffset_cmd, WrenchSensor::chooseFilter_cmd, WrenchSensor::maximumLoadEvent, WrenchSensor::maxMeasurement_mtd, WrenchSensor::minMeasurement_mtd, WrenchSensor::outdatPort, WrenchSensor::setOffset_cmd, and WrenchSensor::zeroMeasurement_mtd.
| bool startHook | ( | ) | [protected, virtual] |
This function contains the application's startup code.
Return false to abort startup.
Definition at line 181 of file WrenchSensor.cpp.
RTT::Event<void(std::string)> maximumLoadEvent [protected] |
Event that is fired if the measured force exceeds the allowed maximum value.
Definition at line 76 of file WrenchSensor.hpp.
Referenced by WrenchSensor::updateHook(), and WrenchSensor::WrenchSensor().
1.6.3