56 #include <visp3/core/vpColVector.h>
57 #include <visp3/core/vpDebug.h>
58 #include <visp3/core/vpTime.h>
59 #include <visp3/io/vpParseArgv.h>
60 #ifdef VISP_HAVE_BICLOPS
62 #include <visp3/robot/vpRobotBiclops.h>
65 #define GETOPTARGS "c:h"
76 void usage(
const char *name,
const char *badparam, std::string conf)
79 Move the biclops robot\n\
82 %s [-c <Biclops configuration file>] [-h]\n \
87 -c <Biclops configuration file> %s\n\
88 Sets the biclops robot configuration file.\n\n", conf.c_str());
91 fprintf(stderr,
"ERROR: \n");
92 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
107 bool getOptions(
int argc,
const char **argv, std::string &conf)
118 usage(argv[0], NULL, conf);
123 usage(argv[0], optarg_, conf);
129 if ((c == 1) || (c == -1)) {
131 usage(argv[0], NULL, conf);
132 std::cerr <<
"ERROR: " << std::endl;
133 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
140 int main(
int argc,
const char **argv)
142 std::string opt_conf =
"/usr/share/BiclopsDefault.cfg";
145 if (getOptions(argc, argv, opt_conf) ==
false) {
161 std::cout <<
"Set position in the articular frame: "
163 <<
" tilt: " <<
vpMath::deg(q[1]) <<
" deg" << std::endl;
164 robot.setPositioningVelocity(30.);
168 std::cout <<
"Position in the articular frame: "
171 std::cout <<
"Velocity in the articular frame: "
176 std::cout <<
"Set position in the articular frame: "
178 <<
" tilt: " <<
vpMath::deg(q[1]) <<
" deg" << std::endl;
179 robot.setPositioningVelocity(10);
183 std::cout <<
"Position in the articular frame: "
186 std::cout <<
"Velocity in the articular frame: "
189 std::cout <<
"Set STATE_VELOCITY_CONTROL" << std::endl;
193 std::cout <<
"Position in the articular frame: "
195 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
197 std::cout <<
"Velocity in the articular frame: "
203 std::cout <<
"Set articular frame velocity "
205 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
212 std::cout <<
"Position in the articular frame: "
214 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
216 std::cout <<
"Velocity in the articular frame: "
222 std::cout <<
"Set articular frame velocity "
224 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
231 std::cout <<
"Position in the articular frame: "
233 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
235 std::cout <<
"Velocity in the articular frame: "
241 std::cout <<
"Set articular frame velocity "
243 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
250 std::cout <<
"Position in the articular frame: "
252 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
254 std::cout <<
"Velocity in the articular frame: "
261 std::cout <<
"Set articular frame velocity "
263 <<
" tilt: " <<
vpMath::deg(qdot[1]) <<
" deg/s" << std::endl;
270 std::cout <<
"Position in the articular frame: "
272 <<
" tilt: " <<
vpMath::deg(qm[1]) <<
" deg" << std::endl;
274 std::cout <<
"Velocity in the articular frame: "
279 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
286 std::cout <<
"You do not have an biclops PT robot connected to your computer..." << std::endl;
static const unsigned int ndof
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
const char * getMessage() const
static double rad(double deg)
static double deg(double rad)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Interface for the biclops, pan, tilt head control.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ STATE_POSITION_CONTROL
Initialize the position controller.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
VISP_EXPORT int wait(double t0, double t)