56 #include <visp3/core/vpColVector.h> 57 #include <visp3/core/vpDebug.h> 58 #include <visp3/core/vpTime.h> 59 #include <visp3/io/vpParseArgv.h> 60 #ifdef VISP_HAVE_BICLOPS 62 #include <visp3/robot/vpRobotBiclops.h> 65 #define GETOPTARGS "c:h" 76 void usage(
const char *name,
const char *badparam, std::string conf)
79 Move the biclops robot\n\ 82 %s [-c <Biclops configuration file>] [-h]\n \ 87 -c <Biclops configuration file> %s\n\ 88 Sets the biclops robot configuration file.\n\n", conf.c_str());
91 fprintf(stderr,
"ERROR: \n");
92 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
107 bool getOptions(
int argc,
const char **argv, std::string &conf)
118 usage(argv[0], NULL, conf);
123 usage(argv[0], optarg_, conf);
129 if ((c == 1) || (c == -1)) {
131 usage(argv[0], NULL, conf);
132 std::cerr <<
"ERROR: " << std::endl;
133 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
140 int main(
int argc,
const char **argv)
142 std::string opt_conf =
"/usr/share/BiclopsDefault.cfg";
145 if (getOptions(argc, argv, opt_conf) ==
false) {
161 std::cout <<
"Set position in the articular frame: " 163 <<
" tilt: " <<
vpMath::deg(q[1]) <<
" deg" << std::endl;
164 robot.setPositioningVelocity(30.);
168 std::cout <<
"Position in the articular frame: " 171 std::cout <<
"Velocity in the articular frame: " 176 std::cout <<
"Set position in the articular frame: " 178 <<
" tilt: " <<
vpMath::deg(q[1]) <<
" deg" << std::endl;
179 robot.setPositioningVelocity(10);
183 std::cout <<
"Position in the articular frame: " 186 std::cout <<
"Velocity in the articular frame: " 189 std::cout <<
"Set STATE_VELOCITY_CONTROL" << std::endl;
193 std::cout <<
"Position in the articular frame: " 195 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
197 std::cout <<
"Velocity in the articular frame: " 203 std::cout <<
"Set articular frame velocity " 205 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
212 std::cout <<
"Position in the articular frame: " 214 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
216 std::cout <<
"Velocity in the articular frame: " 222 std::cout <<
"Set articular frame velocity " 224 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
231 std::cout <<
"Position in the articular frame: " 233 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
235 std::cout <<
"Velocity in the articular frame: " 241 std::cout <<
"Set articular frame velocity " 243 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
250 std::cout <<
"Position in the articular frame: " 252 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
254 std::cout <<
"Velocity in the articular frame: " 261 std::cout <<
"Set articular frame velocity " 263 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
270 std::cout <<
"Position in the articular frame: " 272 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
274 std::cout <<
"Velocity in the articular frame: " 279 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
286 std::cout <<
"You do not have an biclops PT robot connected to your computer..." << std::endl;
void setPosition(const vpHomogeneousMatrix &wMc)
VISP_EXPORT int wait(double t0, double t)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
static const unsigned int ndof
Initialize the position controller.
error that can be emited by ViSP classes.
vpHomogeneousMatrix getPosition() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Initialize the velocity controller.
Interface for the biclops, pan, tilt head control.
static double rad(double deg)
const char * getMessage(void) const
static double deg(double rad)
Implementation of column vector and the associated operations.