Visual Servoing Platform
version 3.2.0
testVirtuose.cpp
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Test for Virtuose SDK wrapper.
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*
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* Author:
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* Nicolò Pedemonte
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*
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*****************************************************************************/
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#include <visp3/robot/vpVirtuose.h>
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int
main()
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{
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#if defined(VISP_HAVE_VIRTUOSE)
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try
{
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vpVirtuose
virtuose;
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virtuose.
init
();
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bool
emergStop = virtuose.
getEmergencyStop
();
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if
(emergStop) {
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std::cout <<
"The system is operational."
<< std::endl;
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vpColVector
q = virtuose.
getArticularPosition
();
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std::cout <<
"The current joint values are : "
<< q.
t
() << std::endl;
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}
else
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std::cout <<
"The system is not operational. \nPlease plug the "
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"emergency stop to the system (or untrigger it)."
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<< std::endl;
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}
catch
(
const
vpException
&e) {
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std::cout <<
"Catch an exception: "
<< e.
getStringMessage
() << std::endl;
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}
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#else
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std::cout <<
"You should install Virtuose SDK to use this binary..."
<< std::endl;
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#endif
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}
vpException::getStringMessage
const std::string & getStringMessage(void) const
Send a reference (constant) related the error message (can be empty).
Definition:
vpException.cpp:91
vpColVector::t
vpRowVector t() const
Definition:
vpColVector.cpp:695
vpVirtuose::getEmergencyStop
bool getEmergencyStop() const
Definition:
vpVirtuose.cpp:281
vpColVector
Implementation of column vector and the associated operations.
Definition:
vpColVector.h:71
vpVirtuose
Definition:
vpVirtuose.h:142
vpVirtuose::init
void init()
Definition:
vpVirtuose.cpp:530
vpVirtuose::getArticularPosition
vpColVector getArticularPosition() const
Definition:
vpVirtuose.cpp:126
vpException
error that can be emited by ViSP classes.
Definition:
vpException.h:70
modules
robot
test
virtuose
testVirtuose.cpp
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