moveAfma4.cpp

Example of a real robot control, the Afma4 robot (cylindrical robot, with 4 degrees of freedom). The robot is controlled first in position, then in velocity.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 Afma 4 dof robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>

#ifdef VISP_HAVE_AFMA4

#include <stdlib.h>
#include <unistd.h>

#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpRobotAfma4.h>

// List of allowed command line options
#define GETOPTARGS "mh"

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Example of a positionning control followed by a velocity control \n\
of the Afma4 robot.\n                          \
\n\
SYNOPSIS\n\
  %s [-m] [-h]\n                              \
", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -m\n\
     Turn off the control of the robot. This option is\n\
     essentially useful for security reasons during nightly\n\
     tests.\n\
\n\
  -h\n\
     Print the help.\n\n");

  if (badparam) {
    fprintf(stderr, "ERROR: \n");
    fprintf(stderr, "\nBad parameter [%s]\n", badparam);
  }
}

bool getOptions(int argc, const char **argv, bool &control)
{
  const char *optarg;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {

    switch (c) {
    case 'm':
      control = false;
      break;
    case 'h':
      usage(argv[0], NULL);
      return false;
      break;

    default:
      usage(argv[0], optarg);
      return false;
      break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg << std::endl << std::endl;
    return false;
  }

  return true;
}

int main(int argc, const char **argv)
{
  try {
    bool control = true; // Turn on the robot control by applying positions
    // and velocities to the robot.
    // Read the command line options
    if (getOptions(argc, argv, control) == false) {
      exit(-1);
    }

    vpRobotAfma4 robot;

    vpColVector qd(robot.njoint);
    vpColVector q(robot.njoint);

    //
    // Position control in articular
    //
    qd[0] = vpMath::rad(10);
    qd[1] = -0.1;
    qd[2] = vpMath::rad(20);
    qd[3] = vpMath::rad(-10);

    std::cout << "Position control: in articular..." << std::endl;
    std::cout << "  position to reach: " << qd.t() << std::endl;
    robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
    if (control)
      robot.setPosition(vpRobot::ARTICULAR_FRAME, qd);
    sleep(1);

    robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
    std::cout << "  measured position: " << q.t();
    sleep(1);

    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);

#if 0
    //
    // Velocity control in articular
    //
    std::cout << "Velocity control: in articular..." << std::endl;

    q = 0 ;
    q[0] = vpMath::rad(2) ; // rotation arround vertical axis
    std::cout << "  rotation arround vertical axis: " << q[0] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, q) ;
    sleep(5) ;

    q = 0 ;
    q[1] = 0.2 ; // Vertical translation
    std::cout << "  vertical translation: " << q[1] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, q) ;
    sleep(5) ;

    q = 0 ;
    q[1] = -0.2 ; // Vertical translation
    std::cout << "  vertical translation: " << q[1] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, q) ;
    sleep(5) ;
    q = 0 ;
    q[2] = vpMath::rad(3) ; // pan
    std::cout << "  pan rotation: " << q[2] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, q) ;
    sleep(5) ;

    q = 0 ;
    q[3] = vpMath::rad(2) ; // tilt
    std::cout << "  tilt rotation: " << q[3] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, q) ;
    sleep(5) ;
#endif
    //
    // Velocity control in camera frame
    //
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
    std::cout << "Velocity control: in camera frame..." << std::endl;
    q.resize(6);
    q = 0.0;
    q[0] = vpMath::rad(2); // rotation arround vertical axis
    std::cout << "  rx rotation: " << q[0] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::CAMERA_FRAME, q);
    sleep(5);

    q.resize(6);
    q = 0.0;
    q[1] = vpMath::rad(2); // rotation arround vertical axis
    std::cout << "  ry rotation: " << q[1] << std::endl;
    if (control)
      robot.setVelocity(vpRobot::CAMERA_FRAME, q);
    sleep(5);

    std::cout << "The end" << std::endl;
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}
#else
int main()
{
  std::cout << "You do not have an afma4 robot connected to your computer..." << std::endl;
  return EXIT_SUCCESS;
}

#endif