44#include <visp3/core/vpConfig.h>
46#if defined(VISP_HAVE_UR_RTDE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
48#include <visp3/robot/vpRobotUniversalRobots.h>
50int main(
int argc,
char **argv)
52 std::string robot_ip =
"192.168.0.100";
54 for (
int i = 1; i < argc; i++) {
55 if (std::string(argv[i]) ==
"--ip" && i + 1 < argc) {
56 robot_ip = std::string(argv[i + 1]);
57 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
58 std::cout << argv[0] <<
" [--ip " << robot_ip <<
"] [--help] [-h]"
66 robot.connect(robot_ip);
68 std::cout <<
"WARNING: This example will move the robot! "
69 <<
"Please make sure to have the user stop button at hand!" << std::endl
70 <<
"Press Enter to continue..." << std::endl;
83 std::cout <<
"Move to joint position: " << q.t() << std::endl;
84 robot.setPositioningVelocity(10.);
101 std::cout <<
"Apply cartesian vel in a loop for " << delta_t <<
" sec : " << ve.t() << std::endl;
114 std::cout <<
"Apply cartesian vel in a loop for " << delta_t <<
" sec : " << ve.t() << std::endl;
121 std::cout <<
"Ask to stop the robot " << std::endl;
124 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
126 }
catch (
const std::exception &e) {
127 std::cout <<
"ur_rtde exception: " << e.what() << std::endl;
131 std::cout <<
"The end" << std::endl;
138#if !defined(VISP_HAVE_UR_RTDE)
139 std::cout <<
"ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
142#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
143 std::cout <<
"Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
const char * what() const
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeSecond()