Acquire data from a Force/Torque sensor attached to a MCC DAQ device.

Ports

wrench (out)

Data structure

  • struct ::or_wrench_estimator::state wrench

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::rb3d::force > force

      • double x

      • double y

      • double z

    • optional< struct ::or::rb3d::force_cov > force_cov

      • double cov[6]

    • optional< struct ::or::rb3d::torque > torque

      • double x

      • double y

      • double z

    • optional< struct ::or::rb3d::torque_cov > torque_cov

      • double cov[6]

Services

connect (activity)

Inputs

  • unsigned long rate (default "1000") Acquisition rate (Hz)
Throws

  • exception ::mccdaqft::e_nodev

  • exception ::mccdaqft::e_baddev

  • exception ::mccdaqft::e_inval
Context

Connect to the hardware

disconnect (activity)

Context

Disconnect from the hardware

set_zero (activity)

Inputs

  • long samples (default "2000") Number of samples
Throws

  • exception ::mccdaqft::e_nodev
Context

Zero out the output

set_frame_offset (function)

Inputs

  • double x

  • double y

  • double z

  • double yaw

  • double pitch

  • double roll

Change the output frame

log (function)

Inputs

  • string<64> path (default "/tmp/mccdaqft.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::mccdaqft::e_sys

    • short code

    • string<128> what

Log measured wrench

log_stop (function)

Stop logging

log_info (function)

Outputs

  • unsigned long miss Missed log entries

  • unsigned long total Total log entries

Show missed log entries

Tasks

read

Context