Visual Servoing Platform version 3.6.0
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takktile2-read-data.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 * Interface for the Reflex Takktile 2 hand from Right Hand Robotics.
33 *
34*****************************************************************************/
35
43#include <iostream>
44#include <string>
45
46#include <visp3/robot/vpReflexTakktile2.h>
47
48int main(int argc, char *argv [])
49{
50 std::string opt_network_interface = "eth0";
51 std::string opt_finger_file_name = "yaml/finger_calibrate.yaml";
52 std::string opt_tactile_file_name = "yaml/tactile_calibrate.yaml";
53 std::string opt_motor_file_name = "yaml/motor_constants.yaml";
54
55 for (int i = 0; i < argc; i++) {
56 if (std::string(argv[i]) == "--network")
57 opt_network_interface = std::string(argv[i + 1]);
58 else if (std::string(argv[i]) == "--finger")
59 opt_finger_file_name = std::string(argv[i + 1]);
60 else if (std::string(argv[i]) == "--tactile")
61 opt_tactile_file_name = atoi(argv[i + 1]);
62 else if (std::string(argv[i]) == "--motor")
63 opt_motor_file_name = atoi(argv[i + 1]);
64 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
65 std::cout << "\nUsage: " << argv[0]
66 << " [--network <interface name>] "
67 " [--finger <calib file name>]"
68 " [--tactile <calib file name>]"
69 " [--motor <constants file name>]"
70 " [--help] [-h]\n"
71 << std::endl;
72 std::cout << "Options:" << std::endl;
73 std::cout << " --network <interface name>" << std::endl;
74 std::cout << "\tNetwork interface name. Default: " << opt_network_interface << std::endl << std::endl;
75 std::cout << " --finger <calib file name>" << std::endl;
76 std::cout << "\tFinger calibration file name. Default: " << opt_finger_file_name << std::endl << std::endl;
77 std::cout << " --tactile <calib file name>" << std::endl;
78 std::cout << "\tTactile calibration file name. Default: " << opt_tactile_file_name << std::endl << std::endl;
79 std::cout << " --motor <constants file name>" << std::endl;
80 std::cout << "\tMotor constants file name. Default: " << opt_motor_file_name << std::endl << std::endl;
81 std::cout << " --help, -h" << std::endl;
82 std::cout << "\tPrint this helper." << std::endl;
83
84 return EXIT_SUCCESS;
85 }
86 }
87#ifdef VISP_HAVE_TAKKTILE2
88 vpReflexTakktile2 reflex;
89 reflex.setNetworkInterface(opt_network_interface);
90 reflex.setFingerConfigFile(opt_finger_file_name);
91 reflex.setTactileConfigFile(opt_tactile_file_name);
92 reflex.setMotorConfigFile(opt_motor_file_name);
93
94 reflex.open();
95
96 // Hit CTRL-C to stop
97 while (true) {
98
99 std::cout << reflex.getHandInfo() << std::endl;
100 reflex.wait(50);
101 }
102
103#else
104 std::cout << "ViSP is not built to support Right Hand Reflex Takktile2 hand" << std::endl;
105#endif
106
107 return EXIT_SUCCESS;
108}
void setMotorConfigFile(const std::string &motor_file_name)
void setTactileConfigFile(const std::string &tactile_file_name)
void setNetworkInterface(const std::string &network_interface="eth0")
void setFingerConfigFile(const std::string &finger_file_name)
void wait(int milliseconds)