38 #ifndef _vpForceTorqueAtiNetFTSensor_h_
39 #define _vpForceTorqueAtiNetFTSensor_h_
41 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpColVector.h>
46 #include <visp3/core/vpUDPClient.h>
51 #ifdef VISP_HAVE_FUNC_INET_NTOP
113 void bias(
unsigned int n_counts = 50);
118 inline unsigned long getCountsPerForce()
const {
return m_counts_per_force; }
123 inline unsigned long getCountsPerTorque()
const {
return m_counts_per_torque; }
127 inline unsigned long getDataCounter()
const {
return m_data_count; }
132 inline unsigned long getScalingFactor()
const {
return m_scaling_factor; }
139 inline void setCountsPerForce(
unsigned long counts) { m_counts_per_force = counts; }
145 inline void setCountsPerTorque(
unsigned long counts) { m_counts_per_torque = counts; }
151 inline void setScalingFactor(
unsigned long scaling_factor) { m_scaling_factor = scaling_factor; }
152 bool startStreaming();
153 void stopStreaming();
156 bool waitForNewData(
unsigned int timeout = 50);
159 unsigned long m_counts_per_force;
160 unsigned long m_counts_per_torque;
161 unsigned long m_scaling_factor;
163 unsigned long m_data_count;
164 unsigned long m_data_count_prev;
166 bool m_is_streaming_started;