Visual Servoing Platform version 3.5.0
testVirtuosePeriodicFunction.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
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.
16 *
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
24 *
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/core/vpTime.h>
46#include <visp3/robot/vpVirtuose.h>
47
48#if defined(VISP_HAVE_VIRTUOSE)
49
50void CallBackVirtuose(VirtContext VC, void *ptr)
51{
52 (void)VC;
53 vpVirtuose *p_virtuose = (vpVirtuose *)ptr;
54
55 vpPoseVector localPose = p_virtuose->getPhysicalPosition();
56 vpColVector vel = p_virtuose->getPhysicalVelocity();
57 std::cout << "pose: " << localPose.t() << std::endl;
58 std::cout << "vel: " << vel.t() << std::endl;
59
60 return;
61}
62
63int main()
64{
65 try {
66 vpVirtuose virtuose;
67 virtuose.setVerbose(true);
68 virtuose.setPeriodicFunction(CallBackVirtuose);
69 virtuose.startPeriodicFunction();
70
71 int counter = 0;
72 bool swtch = true;
73
74 while (swtch) {
75 if (counter >= 2) {
76 virtuose.stopPeriodicFunction();
77 swtch = false;
78 }
79 counter++;
80 vpTime::sleepMs(1000);
81 }
82 std::cout << "The end" << std::endl;
83 } catch (const vpException &e) {
84 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
85 }
86}
87
88#else
89int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
90#endif
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
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
vpRowVector t() const
vpPoseVector getPhysicalPosition() const
Definition: vpVirtuose.cpp:419
void setPeriodicFunction(VirtPeriodicFunction CallBackVirt)
Definition: vpVirtuose.cpp:878
void stopPeriodicFunction()
void setVerbose(bool mode)
Definition: vpVirtuose.h:195
void startPeriodicFunction()
vpColVector getPhysicalVelocity() const
Definition: vpVirtuose.cpp:452
VISP_EXPORT void sleepMs(double t)