#include <vpForceTorqueIitSensor.h>

Public Member Functions
	vpForceTorqueIitSensor ()

	~vpForceTorqueIitSensor ()

void	bias ()

bool	connected (int timeout_ms=0) const

vpColVector	getForceTorque ()

void	startStreaming ()

void	stopStreaming ()

Protected Member Functions
void	acquisitionLoop ()

void	close ()

void	join ()

Protected Attributes
ftSensorLib	m_ftLib

int	m_numSensorsInLib

vpColVector	m_ft

ftSensorsConnected	m_ftSensorsData {}

std::atomic< bool >	m_acquisitionEnabled

std::atomic< bool >	m_dataValid

bool	m_connected

std::thread	m_acquisitionThread

std::chrono::time_point< std::chrono::system_clock >	m_timeCur

std::chrono::time_point< std::chrono::system_clock >	m_timePrev

std::mutex	m_mutex

int	m_warmupMilliseconds

Detailed Description

This class is a wrapper over six axis load measurement (forces and torques) from IIT (ISTITUTO ITALIANO DI TECNOLOGIA) sell by Alberobotics.

The following example shows how to use this class to stream force-torque data at 1kHz and print a measurement each second.

#include <iostream>
 
#include <visp3/core/vpTime.h>
#include <visp3/sensor/vpForceTorqueIitSensor.h>
 
int main()
{
#ifdef VISP_HAVE_FT_IIT_SDK
  vpForceTorqueIitSensor iit_ft;
 
  if ( ! iit_ft.connected() ) {
    std::cout << "Unable to connect to IIT force-torque sensor" << std::endl;
    return EXIT_SUCCESS;
  }
 
  iit_ft.bias();
  iit_ft.startStreaming();
  vpColVector ft;
  for(int i=0; i < 10; i++) {
    ft = iit_ft.getForceTorque();
    std::cout << ft.t() << std::endl;
    vpTime::sleepMs(1000);
  }
  iit_ft.stopStreaming();
 
#else
  std::cout << "ViSP is not build with IIT force-torque SDK support" << std::endl;
#endif
  return EXIT_SUCCESS;
}

Once build, in the same folder as the binary you should find a configuration file named configurationSettings.ini.

Such a file is provided in $VISP_WS/modules/sensor/test/force-torque/configurationSettings.ini with default settings.
; Configuration Settings for FT Sensor LIB

[GENERAL] ; General Settings

NUM_SENSORS = 1 ; Number of Connected FT Sensors

MULTI_SENSOR_MODE = false ; Multi Sensor Mode: if "true", the library

; will use the BASE_SETTINGS in order to

; initialize the communication with the number of

; sensors (NUM_SENSORS) it is initialized with.

; If "false", then the library will check

; the "USE_DEFAULT_SETTINGS".

USE_DEFAULT_SETTINGS = true ; If "true", the library will use the

; DEFAULT_SETTINGS. Note that the sensor

; needs to be in the "DEF" IP position.

; If "false", the library will use the

; USER_SETTINGS to initialize the communication

; with the sensor.

BROADCAST_POLICY = 255 ; Sensor Broadcast Policy: 255

BROADCAST_RATE = 2 ; Sensor Broadcast Rate: represents number of multiples of 0.5 msec,

; with minimum value of 2 e.g. 2*0.5 = 1 msec

LOCAL_IFACE_IP = 192.168.1.100 ; Host Computer's local interface IP

LOCAL_PORT = 2000 ; Host Computer's local interface IP

LOCAL_IFACE = enp0s20f0u1u3 ; Host Computer's local interface name (it is required only in Linux)

[DEFAULT_SETTINGS] ; DEFAULT SETTINGS FOR USE IN SINGLE_SENSOR_MODE when USE_DEFAULT_SETTINGS=true

DEFAULT_IP = 192.168.1.1 ; Default Sensor IP

DEFAULT_PORT = 23 ; Default UDP Port

[USER_SETTINGS] ; USER SETTINGS FOR USE IN SINGLE_SENSOR_MODE when USE_DEFAULT_SETTINGS=false

USER_IP = 192.168.1.1 ; User Sensor IP

USER_PORT = 2000 ; User UDP Port

[BASE_SETTINGS] ; BASE SETTINGS FOR USE IN MULTI_SENSOR_MODE when MULTI_SENSOR_MODE=true

BASE_IP = 169.254.89.20 ; Base Sensor IP

BASE_PORT = 22 ; Base UDP Port

BASE_FIRST_BOARD_NUMBER = 1 ; Base First Sensor Board Number. range 1-9
To modify default settings you need first to identify your Ethernet link:
$ ifconfig

enp0s31f6: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500

inet 192.168.100.100 netmask 255.255.255.0 broadcast 192.168.100.255

and then modify accordingly the following lines:

LOCAL_IFACE_IP = 192.168.100.100       ; Host Computer's local interface IP
LOCAL_IFACE = enp0s31f6                ; Host Computer's local interface name (it is required only in Linux)

The sensor default IP is set to 192.168.1.1. Browsing to this address with Firefox allows to modify it's default IP address. If the new sensor IP address is for example 192.168.100.10, you need to modify the following line:

USE_DEFAULT_SETTINGS = false           ; If "true", the library will use the
                                       ; DEFAULT_SETTINGS. Note that the sensor
                                       ; needs to be in the "DEF" IP position.
                                       ; If "false", the library will use the
                                       ; USER_SETTINGS to initialize the communication
                                       ; with the sensor.
[USER_SETTINGS]                        ; USER SETTINGS FOR USE IN SINGLE_SENSOR_MODE when USE_DEFAULT_SETTINGS=false
USER_IP = 192.168.100.10               ; User Sensor IP

When running a binary that uses vpForceTorqueIitSensor class,

if you experience the following error:
$ cd $VISP_WS/modules/sensor

$ ./testForceTorqueIitSensor-simple

./testForceTorqueIitSensor-simple: error while loading shared libraries: libftSensorLib.so.0.0.1: cannot open shared

object file: No such file or directory
it means that you need to add the location of the library in LD_LIBRARY_PATH environment variable. This could be achieved running:
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$VISP_WS/3rdparty/FT_SDK_01_4/linux/ubuntu16.04/ftSensorLibReleaseExamples/library/bin/lin-x86_64/release

where $VISP_WS/3rdparty/FT_SDK_01_4 contains IIT SDK.

Examples: testForceTorqueIitSensor.cpp.

Definition at line 141 of file vpForceTorqueIitSensor.h.

Constructor & Destructor Documentation

◆ vpForceTorqueIitSensor()

vpForceTorqueIitSensor::vpForceTorqueIitSensor ( )

Default constructor.

Establish communication with sensor(-s) and start data acquisition thread.

Definition at line 53 of file vpForceTorqueIitSensor.cpp.

◆ ~vpForceTorqueIitSensor()

vpForceTorqueIitSensor::~vpForceTorqueIitSensor ( )

Destructor that stops streaming

Definition at line 92 of file vpForceTorqueIitSensor.cpp.

Member Function Documentation

◆ acquisitionLoop()

void vpForceTorqueIitSensor::acquisitionLoop ( )

protected

Acquisition loop. Warm up the sensor

Definition at line 107 of file vpForceTorqueIitSensor.cpp.

◆ bias()

void vpForceTorqueIitSensor::bias ( )

Bias all sensors by TCP.

Examples: testForceTorqueIitSensor.cpp.

Definition at line 158 of file vpForceTorqueIitSensor.cpp.

◆ close()

void vpForceTorqueIitSensor::close ( )

protected

Stops data streaming.

Definition at line 82 of file vpForceTorqueIitSensor.cpp.

◆ connected()

bool vpForceTorqueIitSensor::connected ( int timeout_ms = 0 ) const

Return true if communication established with at least one sensor.

Parameters

timeout_ms : Timeout in milliseconds.

If you get the following error:

[ ERROR: ] Connection failed! Error Connection refused

it means probably that you didn't set the right parameters in the configuration file configurationSettings.ini. See class description to get some hints.

Examples: testForceTorqueIitSensor.cpp.

Definition at line 171 of file vpForceTorqueIitSensor.cpp.

◆ getForceTorque()

vpColVector vpForceTorqueIitSensor::getForceTorque ( )

Get force-torque data in SI units.

Examples: testForceTorqueIitSensor.cpp.

Definition at line 185 of file vpForceTorqueIitSensor.cpp.

◆ join()

void vpForceTorqueIitSensor::join ( )

protected

Join acquisition thread.

Definition at line 97 of file vpForceTorqueIitSensor.cpp.

◆ startStreaming()

void vpForceTorqueIitSensor::startStreaming ( )

Start acquisition thread and wait until data are available.

Examples: testForceTorqueIitSensor.cpp.

Definition at line 194 of file vpForceTorqueIitSensor.cpp.

◆ stopStreaming()

void vpForceTorqueIitSensor::stopStreaming ( )

Stop acquisition thread.

Examples: testForceTorqueIitSensor.cpp.

Definition at line 207 of file vpForceTorqueIitSensor.cpp.

Member Data Documentation

◆ m_acquisitionEnabled

std::atomic<bool> vpForceTorqueIitSensor::m_acquisitionEnabled

protected

Definition at line 167 of file vpForceTorqueIitSensor.h.

◆ m_acquisitionThread

std::thread vpForceTorqueIitSensor::m_acquisitionThread

protected

Definition at line 171 of file vpForceTorqueIitSensor.h.

◆ m_connected

bool vpForceTorqueIitSensor::m_connected

protected

Definition at line 169 of file vpForceTorqueIitSensor.h.

◆ m_dataValid

std::atomic<bool> vpForceTorqueIitSensor::m_dataValid

protected

Definition at line 168 of file vpForceTorqueIitSensor.h.

◆ m_ft

vpColVector vpForceTorqueIitSensor::m_ft

protected

Definition at line 163 of file vpForceTorqueIitSensor.h.

◆ m_ftLib

ftSensorLib vpForceTorqueIitSensor::m_ftLib

protected

Definition at line 160 of file vpForceTorqueIitSensor.h.

◆ m_ftSensorsData

ftSensorsConnected vpForceTorqueIitSensor::m_ftSensorsData {}

protected

Definition at line 165 of file vpForceTorqueIitSensor.h.

◆ m_mutex

std::mutex vpForceTorqueIitSensor::m_mutex

protected

Definition at line 174 of file vpForceTorqueIitSensor.h.

◆ m_numSensorsInLib

int vpForceTorqueIitSensor::m_numSensorsInLib

protected

Definition at line 161 of file vpForceTorqueIitSensor.h.

◆ m_timeCur

std::chrono::time_point<std::chrono::system_clock> vpForceTorqueIitSensor::m_timeCur

protected

Definition at line 172 of file vpForceTorqueIitSensor.h.

◆ m_timePrev

std::chrono::time_point<std::chrono::system_clock> vpForceTorqueIitSensor::m_timePrev

protected

Definition at line 172 of file vpForceTorqueIitSensor.h.

◆ m_warmupMilliseconds

int vpForceTorqueIitSensor::m_warmupMilliseconds

protected

Definition at line 175 of file vpForceTorqueIitSensor.h.

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpForceTorqueIitSensor()

◆ ~vpForceTorqueIitSensor()

Member Function Documentation

◆ acquisitionLoop()

◆ bias()

◆ close()

◆ connected()

◆ getForceTorque()

◆ join()

◆ startStreaming()

◆ stopStreaming()

Member Data Documentation

◆ m_acquisitionEnabled

◆ m_acquisitionThread

◆ m_connected

◆ m_dataValid

◆ m_ft

◆ m_ftLib

◆ m_ftSensorsData

◆ m_mutex

◆ m_numSensorsInLib

◆ m_timeCur

◆ m_timePrev

◆ m_warmupMilliseconds