Visual Servoing Platform version 3.6.0
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testVirtuose.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for Virtuose SDK wrapper.
33 *
34*****************************************************************************/
35
42#include <visp3/robot/vpVirtuose.h>
43
44int main(int argc, char **argv)
45{
46#if defined(VISP_HAVE_VIRTUOSE)
47 std::string opt_ip = "localhost";
48 int opt_port = 5000;
49 for (int i = 0; i < argc; i++) {
50 if (std::string(argv[i]) == "--ip")
51 opt_ip = std::string(argv[i + 1]);
52 else if (std::string(argv[i]) == "--port")
53 opt_port = std::atoi(argv[i + 1]);
54 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
55 std::cout << "\nUsage: " << argv[0]
56 << " [--ip <localhost>] [--port <port>]"
57 " [--help] [-h]\n"
58 << std::endl
59 << "Description: " << std::endl
60 << " --ip <localhost>" << std::endl
61 << "\tHost IP address. Default value: \"localhost\"." << std::endl
62 << std::endl
63 << " --port <port>" << std::endl
64 << "\tCommunication port. Default value: 5000." << std::endl
65 << "\tSuggested values: " << std::endl
66 << "\t- 5000 to communicate with the Virtuose." << std::endl
67 << "\t- 53210 to communicate with the Virtuose equipped with the Glove." << std::endl
68 << std::endl;
69 return EXIT_SUCCESS;
70 }
71 }
72
73 try {
74 vpVirtuose virtuose;
75 std::cout << "Try to connect to " << opt_ip << " port " << opt_port << std::endl;
76 virtuose.setIpAddressAndPort(opt_ip, opt_port);
77 virtuose.init();
78
79 bool emergStop = virtuose.getEmergencyStop();
80 if (emergStop) {
81 std::cout << "The system is operational." << std::endl;
82 vpColVector q = virtuose.getArticularPosition();
83 std::cout << "The current joint values are : " << q.t() << std::endl;
84 }
85 else
86 std::cout << "The system is not operational. \nPlease plug the "
87 "emergency stop to the system (or untrigger it)."
88 << std::endl;
89 }
90 catch (const vpException &e) {
91 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
92 return EXIT_FAILURE;
93 }
94#else
95 (void)argc;
96 (void)argv;
97 std::cout << "You should install Virtuose SDK to use this binary..." << std::endl;
98#endif
99 return EXIT_SUCCESS;
100}
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
const std::string & getStringMessage() const
vpColVector getArticularPosition() const
void setIpAddressAndPort(const std::string &ip, int port)
bool getEmergencyStop() const