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ATISensor.h

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00070 #ifndef ATISensor_hpp
00071 #define ATISensor_hpp
00072 
00073 #include "Sensor.h"
00074 #include "Math/Vector7.h"
00075 #include "FileData/MatrixData.h"
00076 #include "HardwareErrors.h"
00077 
00078 #ifdef __unix
00079 #include "IODevices/UnixSerialPort.h"
00080 #endif
00081 
00082 #ifdef WIN32
00083 #include <windows.h>
00084 #endif
00085 
00087 namespace OSCAR {
00088 
00089 typedef Array<Vector7> Vector7Array;
00090 
00104 class ATISensor : public Sensor<Vector7>
00105 {
00106 public:
00107 
00122   ATISensor(unsigned  int portNo, OSCARError& err = DUMMY_ERROR(noError));
00123 
00129   ~ATISensor();
00130 
00143   virtual bool Initialize();
00144 
00157   virtual bool Read(Vector7Array forces);
00158 
00191   bool Read(Vector7 &forces);
00192 
00209   bool SendCommand(char* command, String& string);
00210 
00246   bool SetSpatialXform(const String& filename);
00247 
00267   bool SetSpatialXform(const SpatialXform& spatialxform);
00268 
00279   bool GetSpatialXform(SpatialXform& spatialXform) const;
00280 
00299   bool  ApplyTransform(bool aTrans);
00300 
00317   bool GetTransformFlag();
00318 
00319   bool SetBias(Vector7 bs); //Temporary function 05-28-03
00320   bool GetBias(Vector7& bs); //Temporary function 05-28-03
00321 
00330   bool  Close();
00331 
00332 protected:
00333 
00350   bool  transformForces(Vector7 &forces);
00351 
00352 private:
00353 
00354   unsigned int portNum;
00355   bool applyTransform;
00356   SpatialXform forceTransform;
00357   Vector7 bias;
00358 
00359 #ifdef __unix
00360   unsigned int serial_port;
00361   struct termio currentState;
00362   struct termio savedState;
00363   UnixSerialPort* ftSens;
00364 #endif
00365 #ifdef WIN32
00366   HANDLE comHandle;
00367 #endif
00368 };
00369 
00370 }
00371 
00372 #endif //ATISensor_hpp
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