1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
|
/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2025 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:
* Interface for the Reflex Takktile 2 hand from Right Hand Robotics.
*/
/*!
\example takktile2-read-data.cpp
Example that reads data from Reflex Takktile 2 hand from Right Hand Robotics.
*/
#include <iostream>
#include <string>
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpReflexTakktile2.h>
int main(int argc, char *argv[])
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
std::string opt_network_interface = "eth0";
std::string opt_finger_file_name = "yaml/finger_calibrate.yaml";
std::string opt_tactile_file_name = "yaml/tactile_calibrate.yaml";
std::string opt_motor_file_name = "yaml/motor_constants.yaml";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--network" && i + 1 < argc) {
opt_network_interface = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--finger" && i + 1 < argc) {
opt_finger_file_name = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--tactile" && i + 1 < argc) {
opt_tactile_file_name = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--motor" && i + 1 < argc) {
opt_motor_file_name = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--network <interface name>] "
<< " [--finger <calib file name>]"
<< " [--tactile <calib file name>]"
<< " [--motor <constants file name>]"
<< " [--help] [-h]\n"
<< std::endl;
std::cout << "Options:" << std::endl;
std::cout << " --network <interface name>" << std::endl;
std::cout << "\tNetwork interface name. Default: " << opt_network_interface << std::endl << std::endl;
std::cout << " --finger <calib file name>" << std::endl;
std::cout << "\tFinger calibration file name. Default: " << opt_finger_file_name << std::endl << std::endl;
std::cout << " --tactile <calib file name>" << std::endl;
std::cout << "\tTactile calibration file name. Default: " << opt_tactile_file_name << std::endl << std::endl;
std::cout << " --motor <constants file name>" << std::endl;
std::cout << "\tMotor constants file name. Default: " << opt_motor_file_name << std::endl << std::endl;
std::cout << " --help, -h" << std::endl;
std::cout << "\tPrint this helper." << std::endl;
return EXIT_SUCCESS;
}
}
#ifdef VISP_HAVE_TAKKTILE2
vpReflexTakktile2 reflex;
reflex.setNetworkInterface(opt_network_interface);
reflex.setFingerConfigFile(opt_finger_file_name);
reflex.setTactileConfigFile(opt_tactile_file_name);
reflex.setMotorConfigFile(opt_motor_file_name);
reflex.open();
// Hit CTRL-C to stop
while (true) {
std::cout << reflex.getHandInfo() << std::endl;
reflex.wait(50);
}
#else
std::cout << "ViSP is not built to support Right Hand Reflex Takktile2 hand" << std::endl;
#endif
return EXIT_SUCCESS;
}
|
