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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Tests the control law
* Authors:
*
*****************************************************************************/
/*!
\file moveBiclops.cpp
\brief Example of a real robot control, the biclops robot (pan-tilt turret)
by Traclabs. The robot is controlled first in position, then in velocity.
See http://www.traclabs.com/tracbiclops.htm for more details.
*/
/*!
\example moveBiclops.cpp
Example of a real robot control, the biclops robot (pan-tilt turret) by
Traclabs. The robot is controlled first in position, then in velocity.
See http://www.traclabs.com/tracbiclops.htm for more details.
*/
#include <stdlib.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpTime.h>
#include <visp3/io/vpParseArgv.h>
#ifdef VISP_HAVE_BICLOPS
#include <visp3/robot/vpRobotBiclops.h>
// List of allowed command line options
#define GETOPTARGS "c:h"
/*
Print the program options.
\param name : Program name.
\param badparam : Bad parameter name.
\param conf : Biclops configuration file.
*/
void usage(const char *name, const char *badparam, std::string conf)
{
fprintf(stdout, "\n\
Move the biclops robot\n\
\n\
SYNOPSIS\n\
%s [-c <Biclops configuration file>] [-h]\n\
",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-c <Biclops configuration file> %s\n\
Sets the biclops robot configuration file.\n\n",
conf.c_str());
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
/*!
Set the program options.
\param argc : Command line number of parameters.
\param argv : Array of command line parameters.
\param conf : Biclops configuration file.
\return false if the program has to be stopped, true otherwise.
*/
bool getOptions(int argc, const char **argv, std::string &conf)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
conf = optarg_;
break;
case 'h':
usage(argv[0], NULL, conf);
return false;
break;
default:
usage(argv[0], optarg_, conf);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, conf);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
std::string opt_conf = "/usr/share/BiclopsDefault.cfg";
// Read the command line options
if (getOptions(argc, argv, opt_conf) == false) {
return EXIT_FAILURE;
}
try {
vpRobotBiclops robot(opt_conf.c_str());
vpColVector q(vpBiclops::ndof); // desired position
vpColVector qdot(vpBiclops::ndof); // desired velocity
vpColVector qm(vpBiclops::ndof); // measured position
vpColVector qm_dot(vpBiclops::ndof); // measured velocity
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
q = 0;
q[0] = vpMath::rad(-10);
q[1] = vpMath::rad(-20);
std::cout << "Set position in the articular frame: "
<< " pan: " << vpMath::deg(q[0]) << " deg"
<< " tilt: " << vpMath::deg(q[1]) << " deg" << std::endl;
robot.setPositioningVelocity(30.);
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
q[0] = vpMath::rad(10);
q[1] = vpMath::rad(20);
std::cout << "Set position in the articular frame: "
<< " pan: " << vpMath::deg(q[0]) << " deg"
<< " tilt: " << vpMath::deg(q[1]) << " deg" << std::endl;
robot.setPositioningVelocity(10);
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
std::cout << "Set STATE_VELOCITY_CONTROL" << std::endl;
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " deg"
<< " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
qdot = 0;
// qdot[0] = vpMath::rad(0.1) ;
qdot[1] = vpMath::rad(25);
std::cout << "Set articular frame velocity "
<< " pan: " << vpMath::deg(qdot[0]) << " deg/s"
<< " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
robot.setVelocity(vpRobot::ARTICULAR_FRAME, qdot);
// waits 5000ms
vpTime::wait(5000.0);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " deg"
<< " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
qdot = 0;
// qdot[0] = vpMath::rad(0.1) ;
qdot[1] = -vpMath::rad(25);
std::cout << "Set articular frame velocity "
<< " pan: " << vpMath::deg(qdot[0]) << " deg/s"
<< " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
robot.setVelocity(vpRobot::ARTICULAR_FRAME, qdot);
// waits 3000 ms
vpTime::wait(3000.0);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " deg"
<< " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
qdot = 0;
// qdot[0] = vpMath::rad(0.1) ;
qdot[1] = vpMath::rad(10);
std::cout << "Set articular frame velocity "
<< " pan: " << vpMath::deg(qdot[0]) << " deg/s"
<< " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
robot.setVelocity(vpRobot::ARTICULAR_FRAME, qdot);
// waits 2000 ms
vpTime::wait(2000.0);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " deg"
<< " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
qdot = 0;
qdot[0] = vpMath::rad(-5);
// qdot[1] = vpMath::rad(-5);
std::cout << "Set articular frame velocity "
<< " pan: " << vpMath::deg(qdot[0]) << " deg/s"
<< " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
robot.setVelocity(vpRobot::ARTICULAR_FRAME, qdot);
// waits 2000 ms
vpTime::wait(2000.0);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Position in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " deg"
<< " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
robot.getVelocity(vpRobot::ARTICULAR_FRAME, qm);
std::cout << "Velocity in the articular frame: "
<< " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an biclops PT robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif
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