torqueSensor_interface.h

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#ifndef TORQUESENSOR_INTERFACE_H_
#define TORQUESENSOR_INTERFACE_H_
 
/*---------------------------- Includes ------------------------------------*/
#include "Base/robotStruct.h"
 
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
extern int CreateTorqueSensor(const char* torqueSensorName);
 
extern int CreateTorqueSensor2(const char* torqueSensorName, const char* fileName);
 
extern int DestroyTorqueSensor(const char* torqueSensorName);
 
extern int GetTorqueSensorNum();
 
extern const char* GetTorqueSensorName(int index,char* torqueSensorName);
 
extern int GetSensorTorque(const char* torqueSensorName, double* tor);
 
extern int TorqueSensorCalibration(const char* torqueSensorName);
 
extern int SetSensorTorqueTransformData(const char* torqueSensorName, const char* serialLinkName, tool* rtool, wobj* rwobj);
 
 
extern int SensorTorqueTransformToTool(const char* torqueSensorName, double* angle, double* tor);
 
extern int SensorTorqueTransformToFlange(const char* torqueSensorName, double* angle, double* tor);
 
extern int ToolTransformToSensorTorque(const char* torqueSensorName, double* angle, double* tor);
 
extern int GetSensorTorque_sim(const char* torqueSensorName, double* angle,  double env_pose[4][2], double env_stiffness[4], double* tor);
 
 
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* TORQUESENSOR_INTERFACE_H_ */