Visual Servoing Platform version 3.6.0
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testUniversalRobotsJointPosition.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 Universal Robot behavior.
33 *
34*****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_UR_RTDE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
47
48#include <visp3/robot/vpRobotUniversalRobots.h>
49
50int main(int argc, char **argv)
51{
52 std::string robot_ip = "192.168.0.100";
53
54 for (int i = 1; i < argc; i++) {
55 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
56 robot_ip = std::string(argv[i + 1]);
57 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
58 std::cout << argv[0] << " [--ip " << robot_ip << "] [--help] [-h]"
59 << "\n";
60 return EXIT_SUCCESS;
61 }
62 }
63
64 try {
66 robot.connect(robot_ip);
67
68 std::cout << "WARNING: This example will move the robot! "
69 << "Please make sure to have the user stop button at hand!" << std::endl
70 << "Press Enter to continue..." << std::endl;
71 std::cin.ignore();
72
73 // Get current position
74 vpColVector q_init, q;
75 robot.getPosition(vpRobot::JOINT_STATE, q);
76
77 // Backup initial joint position
78 q_init = q;
79
80 // Enable position controller
82
83 // Move last joint to 0
84 q[5] = vpMath::rad(0);
85 std::cout << "Move to joint position [rad]: " << q.t() << std::endl;
86 robot.setPosition(vpRobot::JOINT_STATE, q);
87
88 // Move last joint to +90 deg
89 q[5] = vpMath::rad(90);
90 std::cout << "Move to joint position [rad]: " << q.t() << std::endl;
91 robot.setPosition(vpRobot::JOINT_STATE, q);
92
93 // Move last joint to -90 deg
94 q[5] = vpMath::rad(-90);
95 std::cout << "Move to joint position [rad]: " << q.t() << std::endl;
96 robot.setPosition(vpRobot::JOINT_STATE, q);
97
98 // Move back to initial position
99 std::cout << "Move to joint position [rad]: " << q_init.t() << std::endl;
100 robot.setPosition(vpRobot::JOINT_STATE, q_init);
101 } catch (const vpException &e) {
102 std::cout << "ViSP exception: " << e.what() << std::endl;
103 return EXIT_FAILURE;
104 } catch (const std::exception &e) {
105 std::cout << "ur_rtde exception: " << e.what() << std::endl;
106 return EXIT_FAILURE;
107 }
108
109 std::cout << "The end" << std::endl;
110 return EXIT_SUCCESS;
111}
112
113#else
114int main()
115{
116#if !defined(VISP_HAVE_UR_RTDE)
117 std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
118 << std::endl;
119#endif
120#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
121 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
122#endif
123}
124#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 char * what() const
static double rad(double deg)
Definition vpMath.h:116
@ JOINT_STATE
Definition vpRobot.h:78
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition vpRobot.h:65
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198