genericFTCalibrator [iCub modules]

Converts Voltage row values from FT sensors into equivalent Force/Torque measurements. More...

Converts Voltage row values from FT sensors into equivalent Force/Torque measurements.

Copyright (C) 2008 RobotCub Consortium

Author: Matteo Fumagalli

Date: first release 26/11/2009

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Description

This module converts the Forces and Torques of an FT sensor, given the input vector of the measured Voltages. Voltages are passed to the module through a YARP port and the outputs are sent to another YARP port. The convertion is provided by the Calibration matrix, which is read by the module using a configuration file.

Dependencies

• YARP libraries.

Input Data Files

None.

Output Data Files

None.

Configuration Files

• FTCalibration.ini. (Default: LeftArmFT.ini)

Parameters

--context context

• The parameter context identifies the context to add where the resource finder will look for the configuration file. Note that the context path is relative to $ICUB_ROOT/app.

--from from

• The parameter from identifies the configuration file name to be read by the module in order to define the ports to open and the calibration matrix. (Default: LeftArmFT.ini)

Ports Created

• <robot>/<part>/V:i (e.g. /iCub/left_arm/V:i) receives the input data vector.

• <robot>/<part>/FT:o (e.g. /iCub/left_arm/FT:i) send the output Force/Torque vector

Tested OS

Windows.