Visual Servoing Platform version 3.6.0
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testQbSoftHand.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 * Test for qbdevice.
33 *
34*****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpTime.h>
45#include <visp3/robot/vpQbSoftHand.h>
46
47int main()
48{
49#ifdef VISP_HAVE_QBDEVICE
50 std::cout << "Test qbSoftHand device" << std::endl;
51 try {
52 vpQbSoftHand qbsofthand;
53
54 {
55 // Call blocking functions to close and open the hand
56 vpColVector q(1), q_mes, current;
57
58 double speed_factor = 0.5; // half speed
59 double stiffness = 0.7;
60 std::cout << "** Close the hand with blocking positioning function" << std::endl;
61 q[0] = 1;
62 qbsofthand.setPosition(q, speed_factor, stiffness);
63
64 std::cout << "** Open the hand with blocking positioning function" << std::endl;
65 q[0] = 0;
66 qbsofthand.setPosition(q, speed_factor, stiffness);
67 }
68
69 {
70 // Call non-blocking positioning functions
71 vpColVector q(1), q_mes, current;
72 double max_current = qbsofthand.getCurrentMax();
73 int i_max = 0;
74 std::cout << "** Close the hand with non-blocking positioning function" << std::endl;
75 for (int i = 1; i <= 10; i++) {
76 qbsofthand.getPosition(q_mes);
77 qbsofthand.getCurrent(current);
78 if (std::fabs(current[0]) > max_current / 2) {
79 std::cout << "Stop closure, current > " << max_current / 2 << std::endl;
80 i_max = i;
81 break;
82 }
83 q[0] = i / 10.0;
84 qbsofthand.setPosition(q);
85 vpTime::sleepMs(500);
86 }
87 std::cout << "** Open the hand with non-blocking positioning function" << std::endl;
88 for (int i = i_max; i >= 0; i--) {
89 qbsofthand.getPosition(q_mes);
90 qbsofthand.getCurrent(current);
91 q[0] = i / 10.0;
92 qbsofthand.setPosition(q);
93 vpTime::sleepMs(500);
94 }
95 }
96 std::cout << "The end" << std::endl;
97 } catch (const vpException &e) {
98 std::cout << "Catch exception: " << e.getStringMessage() << std::endl;
99 }
100#else
101 std::cout << "ViSP is not build with qbdevice 3rd party" << std::endl;
102#endif
103 return EXIT_SUCCESS;
104}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
const std::string & getStringMessage() const
double getCurrentMax() const
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)