Visual Servoing Platform version 3.5.0
testVirtuoseJointLimits.cpp
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30 *
31 * Description:
32 * Test for Virtuose SDK wrapper.
33 *
34 * Authors:
35 * Nicolò Pedemonte
36 *
37 *****************************************************************************/
38
47#include <visp3/core/vpTime.h>
48#include <visp3/robot/vpVirtuose.h>
49
50#if defined(VISP_HAVE_VIRTUOSE)
51
52void CallBackVirtuose(VirtContext VC, void *ptr)
53{
54 (void)VC;
55 vpVirtuose *p_virtuose = (vpVirtuose *)ptr;
56
57 float maxQ[6] = {0.7811045051f, -0.07668215036f, 2.481732368f, 2.819076777f, 1.044736624f, 2.687076807f};
58 float minQ[6] = {-0.8011951447f, -1.648244739f, 0.7439950705f, -3.022218227f, -1.260564089f, -2.054088593f};
59 unsigned int numJoint = 6;
60
61 vpColVector feedbackRegion(numJoint, 0);
62 vpColVector forceFeedback(numJoint, 0);
63
64 int feedbackRegionFactor = 10;
65 float saturationForce[6] = {5, 5, 5, 2.5, 2.5, 2.5};
66
67 for (unsigned int iter = 0; iter < numJoint; iter++)
68 feedbackRegion[iter] = (maxQ[iter] - minQ[iter]) / feedbackRegionFactor;
69
70 vpColVector currentQ = p_virtuose->getArticularPosition();
71
72 // force feedback definition
73 for (unsigned int iter = 0; iter < numJoint; iter++) {
74 if (currentQ[iter] >= (maxQ[iter] - feedbackRegion[iter])) {
75 forceFeedback[iter] =
76 -saturationForce[iter] * pow((currentQ[iter] - maxQ[iter] + feedbackRegion[iter]) / feedbackRegion[iter], 2);
77 std::cout << "WARNING! Getting close to the maximum joint limit. Joint #" << iter + 1 << std::endl;
78 } else if (currentQ[iter] <= (minQ[iter] + feedbackRegion[iter])) {
79 forceFeedback[iter] =
80 saturationForce[iter] * pow((minQ[iter] + feedbackRegion[iter] - currentQ[iter]) / feedbackRegion[iter], 2);
81 std::cout << "WARNING! Getting close to the minimum joint limit. Joint #" << iter + 1 << std::endl;
82 } else {
83 forceFeedback[iter] = 0;
84 std::cout << "Safe zone" << std::endl;
85 }
86 }
87
88 // Printing force feedback
89 // std::cout << "Force feedback: " << forceFeedback.t() << std::endl;
90
91 // Set force feedback
92 p_virtuose->setArticularForce(forceFeedback);
93
94 return;
95}
96
97int main(int argc, char **argv)
98{
99 std::string opt_ip = "localhost";
100 int opt_port = 5000;
101 for (int i = 0; i < argc; i++) {
102 if (std::string(argv[i]) == "--ip")
103 opt_ip = std::string(argv[i + 1]);
104 else if (std::string(argv[i]) == "--port")
105 opt_port = std::atoi(argv[i + 1]);
106 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
107 std::cout << "\nUsage: " << argv[0]
108 << " [--ip <localhost>] [--port <port>]"
109 " [--help] [-h]\n"
110 << std::endl
111 << "Description: " << std::endl
112 << " --ip <localhost>" << std::endl
113 << "\tHost IP address. Default value: \"localhost\"." << std::endl
114 << std::endl
115 << " --port <port>" << std::endl
116 << "\tCommunication port. Default value: 5000." << std::endl
117 << "\tSuggested values: " << std::endl
118 << "\t- 5000 to communicate with the Virtuose." << std::endl
119 << "\t- 53210 to communicate with the Virtuose equipped with the Glove." << std::endl
120 << std::endl;
121 return 0;
122 }
123 }
124
125 try {
126 float period = 0.001f;
127 vpVirtuose virtuose;
128 virtuose.setTimeStep(period);
129 std::cout << "Try to connect to " << opt_ip << " port " << opt_port << std::endl;
130 virtuose.setIpAddressAndPort(opt_ip, opt_port);
131 virtuose.setVerbose(true);
132 virtuose.setPowerOn();
133
134 // setArticularForce only works in COMMAND_TYPE_ARTICULAR_IMPEDANCE.
135 virtuose.setCommandType(COMMAND_TYPE_ARTICULAR_IMPEDANCE);
136
137 // -----------------------------------------------------------
138 // Code to obtain (experimentally) the Virtuose joint limits
139 // -----------------------------------------------------------
140
141 /*
142 // Move the Virtuose in all its workspace while running this code
143
144 vpColVector joints(6);
145 vpColVector max_joint(6,-1000);
146 vpColVector min_joint(6,1000);
147
148 for(unsigned int iter=0; iter<10000; iter++) {
149 virtuose.getArticularPosition(joints);
150 for(unsigned int i=0; i<6; i++) {
151 if (joints[i] > max_joint[i])
152 max_joint[i] = joints[i];
153 if (joints[i] < min_joint[i])
154 min_joint[i] = joints[i];
155 }
156 // Printing joint values
157 std::cout << "Joint values: " << joints.t() << std::endl;
158 vpTime::wait(10);
159 }
160
161 std::cout << "Max Joint values: " << max_joint.t() << std::endl;
162 std::cout << "Min Joint values: " << min_joint.t() << std::endl;
163
164 // Best Result (small errors are to be expected)
165 // Max Joint values: 0.7811045051 -0.07668215036 2.481732368
166 2.819076777 1.044736624 2.687076807
167 // Min Joint values: -0.8011951447 -1.648244739 0.7439950705
168 -3.022218227 -1.260564089 -2.054088593
169*/
170
171 virtuose.setPeriodicFunction(CallBackVirtuose);
172 virtuose.startPeriodicFunction();
173
174 int counter = 0;
175 bool swtch = true;
176
177 while (swtch) {
178 if (counter >= 10) {
179 virtuose.stopPeriodicFunction();
180 virtuose.setPowerOff();
181 swtch = false;
182 }
183 counter++;
184 vpTime::sleepMs(1000);
185 }
186
187 std::cout << "The end" << std::endl;
188 } catch (const vpException &e) {
189 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
190 }
191}
192
193#else
194int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
195#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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
vpColVector getArticularPosition() const
Definition: vpVirtuose.cpp:140
void setIpAddressAndPort(const std::string &ip, int port)
Definition: vpVirtuose.cpp:87
void setPowerOff()
Definition: vpVirtuose.cpp:918
void setTimeStep(const float &timeStep)
Definition: vpVirtuose.cpp:961
void setCommandType(const VirtCommandType &type)
Definition: vpVirtuose.cpp:726
void setPeriodicFunction(VirtPeriodicFunction CallBackVirt)
Definition: vpVirtuose.cpp:878
void stopPeriodicFunction()
void setPowerOn()
Definition: vpVirtuose.cpp:931
void setVerbose(bool mode)
Definition: vpVirtuose.h:195
void setArticularForce(const vpColVector &articularForce)
Definition: vpVirtuose.cpp:603
void startPeriodicFunction()
VISP_EXPORT void sleepMs(double t)