Visual Servoing Platform version 3.6.0
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testVirtuosePeriodicFunction.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
35
42#include <visp3/core/vpTime.h>
43#include <visp3/robot/vpVirtuose.h>
44
45#if defined(VISP_HAVE_VIRTUOSE)
46
47void CallBackVirtuose(VirtContext VC, void *ptr)
48{
49 (void)VC;
50 vpVirtuose *p_virtuose = (vpVirtuose *)ptr;
51
52 vpPoseVector localPose = p_virtuose->getPhysicalPosition();
53 vpColVector vel = p_virtuose->getPhysicalVelocity();
54 std::cout << "pose: " << localPose.t() << std::endl;
55 std::cout << "vel: " << vel.t() << std::endl;
56
57 return;
58}
59
60int main()
61{
62 try {
63 vpVirtuose virtuose;
64 virtuose.setVerbose(true);
65 virtuose.setPeriodicFunction(CallBackVirtuose);
66 virtuose.startPeriodicFunction();
67
68 int counter = 0;
69 bool swtch = true;
70
71 while (swtch) {
72 if (counter >= 2) {
73 virtuose.stopPeriodicFunction();
74 swtch = false;
75 }
76 counter++;
77 vpTime::sleepMs(1000);
78 }
79 std::cout << "The end" << std::endl;
80 }
81 catch (const vpException &e) {
82 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
83 }
84}
85
86#else
87int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
88#endif
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
const std::string & getStringMessage() const
Implementation of a pose vector and operations on poses.
vpRowVector t() const
vpPoseVector getPhysicalPosition() const
void setPeriodicFunction(VirtPeriodicFunction CallBackVirt)
void stopPeriodicFunction()
void setVerbose(bool mode)
Definition vpVirtuose.h:192
void startPeriodicFunction()
vpColVector getPhysicalVelocity() const
VISP_EXPORT void sleepMs(double t)