Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
takktile2-read-data.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Reflex Takktile 2 hand from Right Hand Robotics.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
46 #include <string>
47 #include <iostream>
48 
49 #include <visp3/robot/vpReflexTakktile2.h>
50 
51 int main(int argc, char *argv[])
52 {
53  std::string opt_network_interface = "eth0";
54  std::string opt_finger_file_name = "yaml/finger_calibrate.yaml";
55  std::string opt_tactile_file_name = "yaml/tactile_calibrate.yaml";
56  std::string opt_motor_file_name = "yaml/motor_constants.yaml";
57 
58  for (int i = 0; i < argc; i++) {
59  if (std::string(argv[i]) == "--network")
60  opt_network_interface = std::string(argv[i + 1]);
61  else if (std::string(argv[i]) == "--finger")
62  opt_finger_file_name = std::string(argv[i + 1]);
63  else if (std::string(argv[i]) == "--tactile")
64  opt_tactile_file_name = atoi(argv[i + 1]);
65  else if (std::string(argv[i]) == "--motor")
66  opt_motor_file_name = atoi(argv[i + 1]);
67  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
68  std::cout << "\nUsage: " << argv[0]
69  << " [--network <interface name>] "
70  " [--finger <calib file name>]"
71  " [--tactile <calib file name>]"
72  " [--motor <constants file name>]"
73  " [--help] [-h]\n"
74  << std::endl;
75  std::cout << "Options:" << std::endl;
76  std::cout << " --network <interface name>" << std::endl;
77  std::cout << "\tNetwork interface name. Default: " << opt_network_interface << std::endl << std::endl;
78  std::cout << " --finger <calib file name>" << std::endl;
79  std::cout << "\tFinger calibration file name. Default: " << opt_finger_file_name << std::endl << std::endl;
80  std::cout << " --tactile <calib file name>" << std::endl;
81  std::cout << "\tTactile calibration file name. Default: " << opt_tactile_file_name << std::endl << std::endl;
82  std::cout << " --motor <constants file name>" << std::endl;
83  std::cout << "\tMotor constants file name. Default: " << opt_motor_file_name << std::endl << std::endl;
84  std::cout << " --help, -h" << std::endl;
85  std::cout << "\tPrint this helper." << std::endl;
86 
87  return 0;
88  }
89  }
90 #ifdef VISP_HAVE_TAKKTILE2
91  vpReflexTakktile2 reflex;
92  reflex.setNetworkInterface(opt_network_interface);
93  reflex.setFingerConfigFile(opt_finger_file_name);
94  reflex.setTactileConfigFile(opt_tactile_file_name);
95  reflex.setMotorConfigFile(opt_motor_file_name);
96 
97  reflex.open();
98 
99  // Hit CTRL-C to stop
100  while (true) {
101 
102  std::cout << reflex.getHandInfo() << std::endl;
103  reflex.wait(50);
104  }
105 
106 #else
107  std::cout << "ViSP is not built to support Right Hand Reflex Takktile2 hand" << std::endl;
108 #endif
109 
110  return EXIT_SUCCESS;
111 }
void setMotorConfigFile(const std::string &motor_file_name)
void setNetworkInterface(const std::string &network_interface="eth0")
void wait(int milliseconds)
void setFingerConfigFile(const std::string &finger_file_name)
void setTactileConfigFile(const std::string &tactile_file_name)