Visual Servoing Platform  version 3.2.0 under development (2018-12-11)
testVirtuose.cpp

Test for reading the Virtuose's joint values inside the main function after checking the emergency button.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test for Virtuose SDK wrapper.
*
* Author:
* Nicolò Pedemonte
*
*****************************************************************************/
#include <visp3/robot/vpVirtuose.h>
int main()
{
#if defined(VISP_HAVE_VIRTUOSE)
try {
vpVirtuose virtuose;
virtuose.init();
bool emergStop = virtuose.getEmergencyStop();
if (emergStop) {
std::cout << "The system is operational." << std::endl;
std::cout << "The current joint values are : " << q.t() << std::endl;
} else
std::cout << "The system is not operational. \nPlease plug the "
"emergency stop to the system (or untrigger it)."
<< std::endl;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
}
#else
std::cout << "You should install Virtuose SDK to use this binary..." << std::endl;
#endif
}