44 #include <visp3/gui/vpPlot.h>
45 #include <visp3/sensor/vpForceTorqueIitSensor.h>
47 int main(
int argc,
char **argv)
49 #ifdef VISP_HAVE_FT_IIT_SDK
50 bool opt_no_display =
false;
51 bool opt_filtered =
false;
53 for (
int i = 0; i < argc; i++) {
54 if (std::string(argv[i]) ==
"--no-display" || std::string(argv[i]) ==
"-d")
55 opt_no_display =
true;
56 if (std::string(argv[i]) ==
"--filtered" || std::string(argv[i]) ==
"-f")
58 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
59 std::cout <<
"\nUsage: " << argv[0] <<
" [--no-display] [--filtered] [--help] [-d] [-f] [-h]\n" << std::endl;
64 std::cout <<
"Disable display: " << opt_no_display << std::endl;
68 #if defined(VISP_HAVE_DISPLAY)
70 if (!opt_no_display) {
71 plotter =
new vpPlot(2, 700, 700, 100, 200,
"Curves...");
73 plotter->
setTitle(0,
"Force measurements");
78 plotter->
setTitle(1,
"Torque measurements");
86 std::cout <<
"Unable to connect to IIT force-torque sensor" << std::endl;
95 unsigned long nbacq = 0;
101 #if defined(VISP_HAVE_DISPLAY)
102 if (!opt_no_display) {
105 plotter->
plot(0, nbacq, force);
106 plotter->
plot(1, nbacq, torque);
117 std::cout <<
"F/T: " << ft.
t() << std::endl;
123 std::cout <<
"F/T: " << ft.
t() << std::endl;
134 std::cout <<
"Mean acquisition frequency: " << fps <<
" Hz" << std::endl;
136 #if defined(VISP_HAVE_DISPLAY)
142 std::cout <<
"Test succeed" << std::endl;
147 std::cout <<
"ViSP is not build with IIT force-torque SDK support" << std::endl;
Implementation of column vector and the associated operations.
vpColVector extract(unsigned int r, unsigned int colsize) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
bool connected(int timeout_ms=0) const
vpColVector getForceTorque(bool filtered=false)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
vpImage< unsigned char > I
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setTitle(unsigned int graphNum, const std::string &title)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()