vpReflexTakktile2.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the Reflex Takktile 2 hand from Right Hand Robotics.
 */
 
#ifndef _vpReflexTakktile2_h_
#define _vpReflexTakktile2_h_
 
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_TAKKTILE2
 
#include <string>
#include <vector>
 
#include <visp3/core/vpColVector.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpReflexTakktile2
{
public:
  class HandInfo
  {
  public:
    std::vector<float> proximal;
    std::vector<float> distal_approx;
    std::vector<std::vector<int> > pressure;
    std::vector<std::vector<bool> > contact;
 
    std::vector<float> joint_angle;
    std::vector<float> raw_angle;
    std::vector<float> velocity;
    std::vector<float> load;
    std::vector<float> voltage;
 
    std::vector<uint32_t> temperature;
    std::vector<std::string> error_state;
 
    HandInfo();
    ~HandInfo() { }
 
    friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const HandInfo &hand);
  };
 
  vpReflexTakktile2();
  virtual ~vpReflexTakktile2();
 
  void calibrate();
 
  void disableTorque();
 
  HandInfo getHandInfo();
 
  int getNumFingers() const;
  int getNumSensorsPerFinger() const;
  int getNumServos() const;
 
  vpColVector getPosition() const;
  vpColVector getVelocity() const;
 
  void open();

  void setFingerConfigFile(const std::string &finger_file_name) { m_finger_file_name = finger_file_name; }

  void setMotorConfigFile(const std::string &motor_file_name) { m_motor_file_name = motor_file_name; }

  void setNetworkInterface(const std::string &network_interface = "eth0") { m_network_interface = network_interface; }
 
  void setPosition(const vpColVector &targets);

  void setTactileConfigFile(const std::string &tactile_file_name) { m_tactile_file_name = tactile_file_name; }
 
  void setTactileThreshold(int threshold);
  void setTactileThreshold(const std::vector<int> &thresholds);
 
  void setPositioningVelocity(const vpColVector &targets);
  void setVelocityUntilAnyContact(const vpColVector &targets);
  void setVelocityUntilEachContact(const vpColVector &targets);
 
  void wait(int milliseconds);
 
protected:
  std::string m_network_interface;
  std::string m_finger_file_name;
  std::string m_tactile_file_name;
  std::string m_motor_file_name;
  HandInfo m_hand_info;
 
private:
  // Implementation
  class Impl;
  Impl *m_impl;
};
END_VISP_NAMESPACE
#endif
#endif