ViSP  2.6.2
movePtu46.cpp

Example of a real robot control, the ptu-46 robot (pan-tilt turret). The robot is controlled first in position, then in velocity.

/****************************************************************************
*
* $Id: movePtu46.cpp 3619 2012-03-09 17:28:57Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2012 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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:
* Tests the control law
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
#ifdef UNIX
# include <unistd.h>
#endif
#ifdef VISP_HAVE_PTU46
#include <visp/vpRobotPtu46.h>
int
main()
{
try
{
vpRobotPtu46 robot ;
vpColVector q(2) ;
q = 0;
vpCTRACE << "Set position in the articular frame: " << q.t();
q[0] = vpMath::rad(10);
q[1] = vpMath::rad(20);
vpCTRACE << "Set position in the articular frame: " << q.t();
vpColVector qm(2) ;
vpCTRACE << "Position in the articular frame " << qm.t() ;
vpColVector qdot(2) ;
#if 0
qdot = 0 ;
qdot[0] = vpMath::rad(10) ;
qdot[1] = vpMath::rad(10) ;
vpCTRACE << "Set camera frame velocity " << qdot.t() ;
sleep(2) ;
qdot = 0 ;
qdot[0] = vpMath::rad(-10) ;
qdot[1] = vpMath::rad(-10) ;
vpCTRACE << "Set camera frame velocity " << qdot.t() ;
sleep(2) ;
#endif
qdot = 0 ;
// qdot[0] = vpMath::rad(0.1) ;
qdot[1] = vpMath::rad(10) ;
vpCTRACE << "Set articular frame velocity " << qdot.t() ;
sleep(2) ;
qdot = 0 ;
qdot[0] = vpMath::rad(-5);
//qdot[1] = vpMath::rad(-5);
vpCTRACE << "Set articular frame velocity " << qdot.t() ;
sleep(2) ;
}
catch (...)
{
std::cout << "Sorry PtU46 not available ..." << std::endl;
}
return 0;
}
#else
int
main()
{
vpERROR_TRACE("You do not have a ptu-46 robot connected to your computer...");
return 0;
}
#endif