23#ifndef __embObjFTsensor_h__
24#define __embObjFTsensor_h__
26#include <yarp/dev/DeviceDriver.h>
29#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
39#define EMBOBJSTRAIN_USESERVICEPARSER
45 public yarp::dev::ITemperatureSensors,
46 public yarp::dev::ISixAxisForceTorqueSensors
54 bool open(yarp::os::Searchable &config);
60 virtual bool update(eOprotID32_t id32,
double timestamp,
void* rxdata);
82 std::string getBoardInfo(
void)
const;
83 bool updateStrainValues(eOprotID32_t id32,
double timestamp,
void* rxdata);
84 bool updateTemperatureValues(eOprotID32_t id32,
double timestamp,
void* rxdata);
87 void getCounters(
unsigned int &saturations,
unsigned int &errors,
unsigned int &timeouts);
88 bool enableTemperatureTransmission(
bool enable);
virtual bool getTemperatureSensorFrameName(size_t sens_index, std::string &frameName) const override
bool open(yarp::os::Searchable &config)
virtual size_t getNrOfTemperatureSensors() const override
virtual size_t getNrOfSixAxisForceTorqueSensors() const override
virtual bool update(eOprotID32_t id32, double timestamp, void *rxdata)
virtual eth::iethresType_t type()
virtual bool getSixAxisForceTorqueSensorFrameName(size_t sens_index, std::string &frameName) const override
virtual bool getTemperatureSensorName(size_t sens_index, std::string &name) const override
virtual yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus(size_t sens_index) const override
virtual bool getTemperatureSensorMeasure(size_t sens_index, double &out, double ×tamp) const override
virtual bool getSixAxisForceTorqueSensorName(size_t sens_index, std::string &name) const override
virtual bool initialised()
virtual yarp::dev::MAS_status getTemperatureSensorStatus(size_t sens_index) const override
virtual bool getSixAxisForceTorqueSensorMeasure(size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override
Copyright (C) 2008 RobotCub Consortium.