44 #include <visp3/core/vpTime.h>
45 #include <visp3/robot/vpQbSoftHand.h>
49 #if defined(VISP_HAVE_QBDEVICE) && defined(VISP_HAVE_THREADS)
50 std::cout <<
"Test qbSoftHand device" << std::endl;
58 double speed_factor = 0.5;
59 double stiffness = 0.7;
60 std::cout <<
"** Close the hand with blocking positioning function" << std::endl;
64 std::cout <<
"** Open the hand with blocking positioning function" << std::endl;
74 std::cout <<
"** Close the hand with non-blocking positioning function" << std::endl;
75 for (
int i = 1; i <= 10; i++) {
78 if (std::fabs(current[0]) > max_current / 2) {
79 std::cout <<
"Stop closure, current > " << max_current / 2 << std::endl;
87 std::cout <<
"** Open the hand with non-blocking positioning function" << std::endl;
88 for (
int i = i_max; i >= 0; i--) {
96 std::cout <<
"The end" << std::endl;
102 std::cout <<
"ViSP is not build with qbdevice 3rd party" << std::endl;
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
const std::string & getStringMessage() const
double getCurrentMax() const
void getCurrent(vpColVector ¤t, const int &id=1)
void setPosition(const vpColVector &position, const int &id=1)
void getPosition(vpColVector &position, const int &id=1)
VISP_EXPORT void sleepMs(double t)