Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
testForceTorqueIitSensor.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Test force/torque IIT sensor.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
45 #include <iostream>
46 
47 #include <visp3/gui/vpPlot.h>
48 #include <visp3/sensor/vpForceTorqueIitSensor.h>
49 
50 int main(int argc, char **argv)
51 {
52 #ifdef VISP_HAVE_FT_IIT_SDK
53  bool opt_no_display = false;
54  bool opt_filtered = false;
55 
56  for (int i = 0; i < argc; i++) {
57  if (std::string(argv[i]) == "--no-display" || std::string(argv[i]) == "-d")
58  opt_no_display = true;
59  if (std::string(argv[i]) == "--filtered" || std::string(argv[i]) == "-f")
60  opt_filtered = true;
61  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
62  std::cout << "\nUsage: " << argv[0] << " [--no-display] [--filtered] [--help] [-d] [-f] [-h]\n" << std::endl;
63  return 0;
64  }
65  }
66 
67  std::cout << "Disable display: " << opt_no_display << std::endl;
68 
70 
71 #if defined(VISP_HAVE_DISPLAY)
72  vpPlot *plotter = NULL;
73  if (!opt_no_display) {
74  plotter = new vpPlot(2, 700, 700, 100, 200, "Curves...");
75  plotter->initGraph(0, 3);
76  plotter->setTitle(0, "Force measurements");
77  plotter->setLegend(0, 0, "Fx");
78  plotter->setLegend(0, 1, "Fy");
79  plotter->setLegend(0, 2, "Fz");
80  plotter->initGraph(1, 3);
81  plotter->setTitle(1, "Torque measurements");
82  plotter->setLegend(1, 0, "Tx");
83  plotter->setLegend(1, 1, "Ty");
84  plotter->setLegend(1, 2, "Tz");
85  }
86 #endif
87 
88  if (!iit_ft.connected()) {
89  std::cout << "Unable to connect to IIT force-torque sensor" << std::endl;
90  return EXIT_SUCCESS;
91  }
92 
93  iit_ft.bias();
94  iit_ft.startStreaming();
95 
96  vpColVector ft;
97  bool end = false;
98  unsigned long nbacq = 0;
99  double t_start = vpTime::measureTimeMs();
100  while (!end) {
101  double t = vpTime::measureTimeMs();
102 
103  ft = iit_ft.getForceTorque(opt_filtered);
104 #if defined(VISP_HAVE_DISPLAY)
105  if (!opt_no_display) {
106  vpColVector force = ft.extract(0, 3);
107  vpColVector torque = ft.extract(3, 3);
108  plotter->plot(0, nbacq, force);
109  plotter->plot(1, nbacq, torque);
110  vpDisplay::displayText(plotter->I, 20, 80, "Left click to quit", vpColor::red);
112 
113  if (vpDisplay::getClick(plotter->I, button, false)) {
114  if (button == vpMouseButton::button1) {
115  end = true;
116  }
117  }
118  vpDisplay::flush(plotter->I);
119  } else {
120  std::cout << "F/T: " << ft.t() << std::endl;
121  if (nbacq > 30) {
122  end = true;
123  }
124  }
125 #else
126  std::cout << "F/T: " << ft.t() << std::endl;
127  if (nbacq > 30) {
128  end = true;
129  }
130 #endif
131  vpTime::wait(t, 1);
132  nbacq++;
133  }
134 
135  iit_ft.stopStreaming();
136  double fps = 1000. * nbacq / (vpTime::measureTimeMs() - t_start);
137  std::cout << "Mean acquisition frequency: " << fps << " Hz" << std::endl;
138 
139 #if defined(VISP_HAVE_DISPLAY)
140  if (plotter) {
141  delete plotter;
142  }
143 #endif
144 
145  std::cout << "Test succeed" << std::endl;
146 
147 #else
148  (void)argc;
149  (void)argv;
150  std::cout << "ViSP is not build with IIT force-torque SDK support" << std::endl;
151 #endif
152  return EXIT_SUCCESS;
153 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpColVector extract(unsigned int r, unsigned int colsize) const
Definition: vpColVector.h:222
vpRowVector t() const
static const vpColor red
Definition: vpColor.h:217
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...
Definition: vpPlot.h:116
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition: vpPlot.cpp:205
vpImage< unsigned char > I
Definition: vpPlot.h:118
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
Definition: vpPlot.cpp:534
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition: vpPlot.cpp:285
void setTitle(unsigned int graphNum, const std::string &title)
Definition: vpPlot.cpp:497
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()