Visual Servoing Platform version 3.5.0
testVirtuose.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for Virtuose SDK wrapper.
33 *
34 * Author:
35 * Nicolò Pedemonte
36 *
37 *****************************************************************************/
38
45#include <visp3/robot/vpVirtuose.h>
46
47int main(int argc, char **argv)
48{
49#if defined(VISP_HAVE_VIRTUOSE)
50 std::string opt_ip = "localhost";
51 int opt_port = 5000;
52 for (int i = 0; i < argc; i++) {
53 if (std::string(argv[i]) == "--ip")
54 opt_ip = std::string(argv[i + 1]);
55 else if (std::string(argv[i]) == "--port")
56 opt_port = std::atoi(argv[i + 1]);
57 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
58 std::cout << "\nUsage: " << argv[0]
59 << " [--ip <localhost>] [--port <port>]"
60 " [--help] [-h]\n"
61 << std::endl
62 << "Description: " << std::endl
63 << " --ip <localhost>" << std::endl
64 << "\tHost IP address. Default value: \"localhost\"." << std::endl
65 << std::endl
66 << " --port <port>" << std::endl
67 << "\tCommunication port. Default value: 5000." << std::endl
68 << "\tSuggested values: " << std::endl
69 << "\t- 5000 to communicate with the Virtuose." << std::endl
70 << "\t- 53210 to communicate with the Virtuose equipped with the Glove." << std::endl
71 << std::endl;
72 return 0;
73 }
74 }
75
76 try {
77 vpVirtuose virtuose;
78 std::cout << "Try to connect to " << opt_ip << " port " << opt_port << std::endl;
79 virtuose.setIpAddressAndPort(opt_ip, opt_port);
80 virtuose.init();
81
82 bool emergStop = virtuose.getEmergencyStop();
83 if (emergStop) {
84 std::cout << "The system is operational." << std::endl;
85 vpColVector q = virtuose.getArticularPosition();
86 std::cout << "The current joint values are : " << q.t() << std::endl;
87 } else
88 std::cout << "The system is not operational. \nPlease plug the "
89 "emergency stop to the system (or untrigger it)."
90 << std::endl;
91 } catch (const vpException &e) {
92 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
93 }
94#else
95 (void)argc;
96 (void)argv;
97 std::cout << "You should install Virtuose SDK to use this binary..." << std::endl;
98#endif
99}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
const std::string & getStringMessage() const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:92
vpColVector getArticularPosition() const
Definition: vpVirtuose.cpp:140
void setIpAddressAndPort(const std::string &ip, int port)
Definition: vpVirtuose.cpp:87
void init()
Definition: vpVirtuose.cpp:544
bool getEmergencyStop() const
Definition: vpVirtuose.cpp:295