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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 force/torque IIT sensor.
*
*****************************************************************************/
/*!
\example testForceTorqueIitSensor.cpp
This example shows how to retrieve data from an IIT F/T sensor connected to
a computer by Ethernet.
*/
#include <iostream>
#include <visp3/gui/vpPlot.h>
#include <visp3/sensor/vpForceTorqueIitSensor.h>
int main(int argc, char **argv)
{
#ifdef VISP_HAVE_FT_IIT_SDK
bool opt_no_display = false;
bool opt_filtered = false;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--no-display" || std::string(argv[i]) == "-d")
opt_no_display = true;
if (std::string(argv[i]) == "--filtered" || std::string(argv[i]) == "-f")
opt_filtered = true;
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0] << " [--no-display] [--filtered] [--help] [-d] [-f] [-h]\n" << std::endl;
return 0;
}
}
std::cout << "Disable display: " << opt_no_display << std::endl;
vpForceTorqueIitSensor iit_ft;
#if defined(VISP_HAVE_DISPLAY)
vpPlot *plotter = NULL;
if (!opt_no_display) {
plotter = new vpPlot(2, 700, 700, 100, 200, "Curves...");
plotter->initGraph(0, 3);
plotter->setTitle(0, "Force measurements");
plotter->setLegend(0, 0, "Fx");
plotter->setLegend(0, 1, "Fy");
plotter->setLegend(0, 2, "Fz");
plotter->initGraph(1, 3);
plotter->setTitle(1, "Torque measurements");
plotter->setLegend(1, 0, "Tx");
plotter->setLegend(1, 1, "Ty");
plotter->setLegend(1, 2, "Tz");
}
#endif
if (!iit_ft.connected()) {
std::cout << "Unable to connect to IIT force-torque sensor" << std::endl;
return EXIT_SUCCESS;
}
iit_ft.bias();
iit_ft.startStreaming();
vpColVector ft;
bool end = false;
unsigned long nbacq = 0;
double t_start = vpTime::measureTimeMs();
while (!end) {
double t = vpTime::measureTimeMs();
ft = iit_ft.getForceTorque(opt_filtered);
#if defined(VISP_HAVE_DISPLAY)
if (!opt_no_display) {
vpColVector force = ft.extract(0, 3);
vpColVector torque = ft.extract(3, 3);
plotter->plot(0, nbacq, force);
plotter->plot(1, nbacq, torque);
vpDisplay::displayText(plotter->I, 20, 80, "Left click to quit", vpColor::red);
vpMouseButton::vpMouseButtonType button;
if (vpDisplay::getClick(plotter->I, button, false)) {
if (button == vpMouseButton::button1) {
end = true;
}
}
vpDisplay::flush(plotter->I);
} else {
std::cout << "F/T: " << ft.t() << std::endl;
if (nbacq > 30) {
end = true;
}
}
#else
std::cout << "F/T: " << ft.t() << std::endl;
if (nbacq > 30) {
end = true;
}
#endif
vpTime::wait(t, 1);
nbacq++;
}
iit_ft.stopStreaming();
double fps = 1000. * nbacq / (vpTime::measureTimeMs() - t_start);
std::cout << "Mean acquisition frequency: " << fps << " Hz" << std::endl;
#if defined(VISP_HAVE_DISPLAY)
if (plotter) {
delete plotter;
}
#endif
std::cout << "Test succeed" << std::endl;
#else
(void)argc;
(void)argv;
std::cout << "ViSP is not build with IIT force-torque SDK support" << std::endl;
#endif
return EXIT_SUCCESS;
}
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