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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:
* Test for qbdevice.
*
*****************************************************************************/
/*!
\example testQbSoftHand.cpp
Test qb device from qbrobotics.
*/
#include <iostream>
#include <visp3/core/vpTime.h>
#include <visp3/robot/vpQbSoftHand.h>
int main()
{
#ifdef VISP_HAVE_QBDEVICE
std::cout << "Test qbSoftHand device" << std::endl;
try {
vpQbSoftHand qbsofthand;
{
// Call blocking functions to close and open the hand
vpColVector q(1), q_mes, current;
double speed_factor = 0.5; // half speed
double stiffness = 0.7;
std::cout << "** Close the hand with blocking positioning function" << std::endl;
q[0] = 1;
qbsofthand.setPosition(q, speed_factor, stiffness);
std::cout << "** Open the hand with blocking positioning function" << std::endl;
q[0] = 0;
qbsofthand.setPosition(q, speed_factor, stiffness);
}
{
// Call non-blocking positioning functions
vpColVector q(1), q_mes, current;
double max_current = qbsofthand.getCurrentMax();
int i_max = 0;
std::cout << "** Close the hand with non-blocking positioning function" << std::endl;
for (int i = 1; i <= 10; i++) {
qbsofthand.getPosition(q_mes);
qbsofthand.getCurrent(current);
if (std::fabs(current[0]) > max_current / 2) {
std::cout << "Stop closure, current > " << max_current / 2 << std::endl;
i_max = i;
break;
}
q[0] = i / 10.0;
qbsofthand.setPosition(q);
vpTime::sleepMs(500);
}
std::cout << "** Open the hand with non-blocking positioning function" << std::endl;
for (int i = i_max; i >= 0; i--) {
qbsofthand.getPosition(q_mes);
qbsofthand.getCurrent(current);
q[0] = i / 10.0;
qbsofthand.setPosition(q);
vpTime::sleepMs(500);
}
}
std::cout << "The end" << std::endl;
} catch (const vpException &e) {
std::cout << "Catch exception: " << e.getStringMessage() << std::endl;
}
#else
std::cout << "ViSP is not build with qbdevice 3rd party" << std::endl;
#endif
return EXIT_SUCCESS;
}
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