Visual Servoing Platform version 3.5.0
testQbSoftHand.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for qbdevice.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
45#include <iostream>
46
47#include <visp3/robot/vpQbSoftHand.h>
48#include <visp3/core/vpTime.h>
49
50int main()
51{
52#ifdef VISP_HAVE_QBDEVICE
53 std::cout << "Test qbSoftHand device" << std::endl;
54 try {
55 vpQbSoftHand qbsofthand;
56
57 {
58 // Call blocking functions to close and open the hand
59 vpColVector q(1), q_mes, current;
60
61 double speed_factor = 0.5; // half speed
62 double stiffness = 0.7;
63 std::cout << "** Close the hand with blocking positioning function" << std::endl;
64 q[0] = 1;
65 qbsofthand.setPosition(q, speed_factor, stiffness);
66
67 std::cout << "** Open the hand with blocking positioning function" << std::endl;
68 q[0] = 0;
69 qbsofthand.setPosition(q, speed_factor, stiffness);
70 }
71
72 {
73 // Call non-blocking positionning functions
74 vpColVector q(1), q_mes, current;
75 double max_current = qbsofthand.getCurrentMax();
76 int i_max = 0;
77 std::cout << "** Close the hand with non-blocking positioning function" << std::endl;
78 for(int i=1; i <= 10; i++) {
79 qbsofthand.getPosition(q_mes);
80 qbsofthand.getCurrent(current);
81 if (std::fabs(current[0]) > max_current/2) {
82 std::cout << "Stop closure, current > " << max_current/2 << std::endl;
83 i_max = i;
84 break;
85 }
86 q[0] = i/10.0;
87 qbsofthand.setPosition(q);
88 vpTime::sleepMs(500);
89 }
90 std::cout << "** Open the hand with non-blocking positioning function" << std::endl;
91 for(int i=i_max; i >= 0; i--) {
92 qbsofthand.getPosition(q_mes);
93 qbsofthand.getCurrent(current);
94 q[0] = i/10.0;
95 qbsofthand.setPosition(q);
96 vpTime::sleepMs(500);
97 }
98 }
99 std::cout << "The end" << std::endl;
100 }
101 catch(const vpException &e) {
102 std::cout << "Catch exception: " << e.getStringMessage() << std::endl;
103 }
104#else
105 std::cout << "ViSP is not build with qbdevice 3rd party" << std::endl;
106#endif
107 return EXIT_SUCCESS;
108}
109
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
const std::string & getStringMessage() const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:92
double getCurrentMax() const
Definition: vpQbDevice.cpp:540
void getCurrent(vpColVector &current, const int &id=1)
void setPosition(const vpColVector &position, const int &id=1)
void getPosition(vpColVector &position, const int &id=1)
VISP_EXPORT void sleepMs(double t)