Visual Servoing Platform version 3.5.0
movePtu46.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
24 *
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 * Tests the control law
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
53#include <visp3/core/vpConfig.h>
54#include <visp3/core/vpDebug.h>
55#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
56#include <unistd.h>
57#endif
58
59#ifdef VISP_HAVE_PTU46
60
61#include <visp3/robot/vpRobotPtu46.h>
62
63int main()
64{
65 try {
66 vpRobotPtu46 robot;
67 vpColVector q(2);
68
69 vpERROR_TRACE(" ");
70
72
73 q = 0;
74 vpCTRACE << "Set position in the articular frame: " << q.t();
75 robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
76
77 q[0] = vpMath::rad(10);
78 q[1] = vpMath::rad(20);
79 vpCTRACE << "Set position in the articular frame: " << q.t();
80 robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
81
82 vpColVector qm(2);
83 robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
84 vpCTRACE << "Position in the articular frame " << qm.t();
85
86 vpColVector qdot(2);
88#if 0
89 qdot = 0 ;
90 qdot[0] = vpMath::rad(10) ;
91 qdot[1] = vpMath::rad(10) ;
92 vpCTRACE << "Set camera frame velocity " << qdot.t() ;
93
95 sleep(2) ;
96
97 qdot = 0 ;
98 qdot[0] = vpMath::rad(-10) ;
99 qdot[1] = vpMath::rad(-10) ;
100
101 vpCTRACE << "Set camera frame velocity " << qdot.t() ;
103 sleep(2) ;
104#endif
105
106 qdot = 0;
107 // qdot[0] = vpMath::rad(0.1) ;
108 qdot[1] = vpMath::rad(10);
109 vpCTRACE << "Set articular frame velocity " << qdot.t();
111 sleep(2);
112
113 qdot = 0;
114 qdot[0] = vpMath::rad(-5);
115 // qdot[1] = vpMath::rad(-5);
116
117 vpCTRACE << "Set articular frame velocity " << qdot.t();
119 sleep(2);
120 }
121 catch (const vpException &e) {
122 std::cout << "Sorry PtU46 not available. Got exception: " << e << std::endl;
123 return EXIT_FAILURE
124 }
125 return EXIT_SUCCESS;
126}
127#else
128int main()
129{
130 std::cout << "You do not have an PTU46 PT robot connected to your computer..." << std::endl;
131 return EXIT_SUCCESS;
132}
133
134#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
static double rad(double deg)
Definition: vpMath.h:110
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Interface for the Directed Perception ptu-46 pan, tilt head .
Definition: vpRobotPtu46.h:81
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:67
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
#define vpCTRACE
Definition: vpDebug.h:338
#define vpERROR_TRACE
Definition: vpDebug.h:393