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/*! \example tutorial-pioneer-robot.cpp */
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotPioneer.h>
int main()
{
#ifdef VISP_HAVE_PIONEER
#if defined(ENABLE_VISP_NAMESPACE)
using namespace VISP_NAMESPACE_NAME;
#endif
try {
ArArgumentBuilder args;
args.add("-rp");
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
args.add("/dev/ttyUSB0");
#else
args.add("COM3");
#endif
ArSimpleConnector conn(&args);
vpRobotPioneer robot;
if (!conn.connectRobot(&robot))
return EXIT_FAILURE;
robot.useSonar(false);
vpTime::wait(2000);
vpColVector v(2);
v = 0;
v[0] = 0.10; // Translational velocity in m/s
robot.setVelocity(vpRobot::REFERENCE_FRAME, v);
vpTime::wait(1000);
vpColVector v_mes = robot.getVelocity(vpRobot::REFERENCE_FRAME);
std::cout << "Measured vel: " << v_mes.t() << std::endl;
vpTime::wait(1000);
robot.stopRunning();
robot.waitForRunExit();
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
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