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/*
* 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:
* Tests the control law
*/
/*!
\file movePtu46.cpp
\brief Example of a real robot control, the ptu-46 robot (pan-tilt turret).
The robot is controlled first in position, then in velocity.
*/
/*!
\example movePtu46.cpp
Example of a real robot control, the ptu-46 robot (pan-tilt turret). The
robot is controlled first in position, then in velocity.
*/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <unistd.h>
#endif
#ifdef VISP_HAVE_PTU46
#include <visp3/robot/vpRobotPtu46.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
vpRobotPtu46 robot;
vpColVector q(2);
vpERROR_TRACE(" ");
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
q = 0;
vpCTRACE << "Set position in the articular frame: " << q.t();
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
q[0] = vpMath::rad(10);
q[1] = vpMath::rad(20);
vpCTRACE << "Set position in the articular frame: " << q.t();
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
vpColVector qm(2);
robot.getPosition(vpRobot::ARTICULAR_FRAME, qm);
vpCTRACE << "Position in the articular frame " << qm.t();
vpColVector qdot(2);
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
#if 0
qdot = 0;
qdot[0] = vpMath::rad(10);
qdot[1] = vpMath::rad(10);
vpCTRACE << "Set camera frame velocity " << qdot.t();
robot.setVelocity(vpRobot::CAMERA_FRAME, qdot);
sleep(2);
qdot = 0;
qdot[0] = vpMath::rad(-10);
qdot[1] = vpMath::rad(-10);
vpCTRACE << "Set camera frame velocity " << qdot.t();
robot.setVelocity(vpRobot::CAMERA_FRAME, qdot);
sleep(2);
#endif
qdot = 0;
// qdot[0] = vpMath::rad(0.1) ;
qdot[1] = vpMath::rad(10);
vpCTRACE << "Set articular frame velocity " << qdot.t();
robot.setVelocity(vpRobot::ARTICULAR_FRAME, qdot);
sleep(2);
qdot = 0;
qdot[0] = vpMath::rad(-5);
// qdot[1] = vpMath::rad(-5);
vpCTRACE << "Set articular frame velocity " << qdot.t();
robot.setVelocity(vpRobot::ARTICULAR_FRAME, qdot);
sleep(2);
}
catch (const vpException &e) {
std::cout << "Sorry PtU46 not available. Got exception: " << e << std::endl;
return EXIT_FAILURE
}
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "You do not have an PTU46 PT robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif
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