tutorial-pioneer-robot.cpp

#include <iostream>
#include <visp/vpRobotPioneer.h>

int main()
{
#ifdef VISP_HAVE_PIONEER
  ArArgumentBuilder args;
  args.add("-rp");
#ifdef UNIX
  args.add("/dev/ttyUSB0");
#else
  args.add("COM3");
#endif

  ArSimpleConnector conn(&args);

  vpRobotPioneer robot;

  if (!conn.connectRobot(&robot))
    return -1;

  robot.useSonar(false);
  vpTime::wait(2000);

  vpColVector v(2);
  v = 0;
  v[0] = 0.10; // Translational velocity in m/s
  robot.setVelocity(vpRobot::REFERENCE_FRAME, v);

  vpTime::wait(1000);
  vpColVector v_mes = robot.getVelocity(vpRobot::REFERENCE_FRAME);
  std::cout << "Measured vel: " << v_mes.t() << std::endl;
  vpTime::wait(1000);

  robot.stopRunning();
  robot.waitForRunExit();
#endif
}