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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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 Virtuose SDK wrapper.
*/
/*!
\example testVirtuosePeriodicFunction.cpp
Test for reading the Virtuose's current position using a callback function.
*/
#include <visp3/core/vpTime.h>
#include <visp3/robot/vpVirtuose.h>
#if defined(VISP_HAVE_VIRTUOSE)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
void CallBackVirtuose(VirtContext VC, void *ptr)
{
(void)VC;
vpVirtuose *p_virtuose = (vpVirtuose *)ptr;
vpPoseVector localPose = p_virtuose->getPhysicalPosition();
vpColVector vel = p_virtuose->getPhysicalVelocity();
std::cout << "pose: " << localPose.t() << std::endl;
std::cout << "vel: " << vel.t() << std::endl;
return;
}
int main()
{
try {
vpVirtuose virtuose;
virtuose.setVerbose(true);
virtuose.setPeriodicFunction(CallBackVirtuose);
virtuose.startPeriodicFunction();
int counter = 0;
bool swtch = true;
while (swtch) {
if (counter >= 2) {
virtuose.stopPeriodicFunction();
swtch = false;
}
counter++;
vpTime::sleepMs(1000);
}
std::cout << "The end" << std::endl;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
}
}
#else
int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
#endif
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