Visual Servoing Platform  version 3.3.0
testVirtuose.cpp
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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 
47 int main()
48 {
49 #if defined(VISP_HAVE_VIRTUOSE)
50  try {
51  vpVirtuose virtuose;
52  virtuose.init();
53 
54  bool emergStop = virtuose.getEmergencyStop();
55  if (emergStop) {
56  std::cout << "The system is operational." << std::endl;
57  vpColVector q = virtuose.getArticularPosition();
58  std::cout << "The current joint values are : " << q.t() << std::endl;
59  } else
60  std::cout << "The system is not operational. \nPlease plug the "
61  "emergency stop to the system (or untrigger it)."
62  << std::endl;
63  } catch (const vpException &e) {
64  std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
65  }
66 #else
67  std::cout << "You should install Virtuose SDK to use this binary..." << std::endl;
68 #endif
69 }
vpException::getStringMessage
const std::string & getStringMessage(void) const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:92
vpColVector::t
vpRowVector t() const
Definition: vpColVector.cpp:782
vpVirtuose::getEmergencyStop
bool getEmergencyStop() const
Definition: vpVirtuose.cpp:282
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpVirtuose
Definition: vpVirtuose.h:144
vpVirtuose::init
void init()
Definition: vpVirtuose.cpp:531
vpVirtuose::getArticularPosition
vpColVector getArticularPosition() const
Definition: vpVirtuose.cpp:127
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:72