#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_FRANKA)
#include <visp3/robot/vpRobotFranka.h>
int main(int argc, char **argv)
{
std::string robot_ip = "192.168.1.1";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
robot_ip = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
std::cout << "-- Start test 1/4" << std::endl;
for (unsigned i = 0; i < 10; i++) {
std::cout <<
"Joint position: " << q.
t() << std::endl;
}
std::cout <<
"fMe pose vector: " << fPe.
t() << std::endl;
}
std::cout <<
"ViSP exception: " << e.
what() << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command"
<< " line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
try {
std::cout << "-- Start test 2/4" << std::endl;
std::array<double, 16> pose = handler->readOnce().O_T_EE;
for (unsigned int i=0; i< 4; i++) {
for (unsigned int j=0; j< 4; j++) {
oMee[i][j] = pose[j*4 + i];
}
}
std::cout << "oMee: \n" << oMee << std::endl;
pose = handler->readOnce().F_T_EE;
for (unsigned int i=0; i< 4; i++) {
for (unsigned int j=0; j< 4; j++) {
fMee[i][j] = pose[j*4 + i];
}
}
std::cout << "fMee: \n" << fMee << std::endl;
pose = handler->readOnce().EE_T_K;
for (unsigned int i=0; i< 4; i++) {
for (unsigned int j=0; j< 4; j++) {
eeMk[i][j] = pose[j*4 + i];
}
}
std::cout << "eeMk: \n" << eeMk << std::endl;
}
std::cout <<
"ViSP exception: " << e.
what() << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
try {
std::cout << "-- Start test 3/4" << std::endl;
std::cout << "Mass matrix:\n" << mass << std::endl;
std::cout <<
"Gravity vector: " << gravity.
t() << std::endl;
std::cout <<
"Coriolis vector: " << coriolis.
t() << std::endl;
}
std::cout <<
"ViSP exception: " << e.
what() << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
try {
std::cout << "-- Start test 4/4" << std::endl;
std::cout <<
"Joint position: " << q.
t() << std::endl;
std::cout << "Jacobian fJe:\n" << fJe << std::endl;
std::cout << "Jacobian fJe:\n" << fJe << std::endl;
std::cout << "Jacobian eJe:\n" << eJe << std::endl;
std::cout << "Jacobian eJe:\n" << eJe << std::endl;
}
std::cout <<
"ViSP exception: " << e.
what() << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
std::cout << "The end" << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "ViSP is not build with libfranka..." << std::endl;
}
#endif