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Visual Servoing Platform
version 3.3.0
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47 #include <visp3/gui/vpPlot.h>
48 #include <visp3/sensor/vpForceTorqueIitSensor.h>
50 int main(
int argc,
char **argv)
52 #ifdef VISP_HAVE_FT_IIT_SDK
53 bool opt_no_display =
false;
55 for (
int i = 0; i < argc; i++) {
56 if (std::string(argv[i]) ==
"--no-display" || std::string(argv[i]) ==
"-d")
57 opt_no_display =
true;
58 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
59 std::cout <<
"\nUsage: " << argv[0] <<
" [--no-display] [-d] [--help] [-h]\n" << std::endl;
64 std::cout <<
"Disable display: " << opt_no_display << std::endl;
68 #if defined(VISP_HAVE_DISPLAY)
70 if (!opt_no_display) {
71 plotter =
new vpPlot(2, 700, 700, 100, 200,
"Curves...");
73 plotter->
setTitle(0,
"Force measurements");
78 plotter->
setTitle(1,
"Torque measurements");
86 std::cout <<
"Unable to connect to IIT force-torque sensor" << std::endl;
95 unsigned long nbacq = 0;
101 #if defined(VISP_HAVE_DISPLAY)
102 if (!opt_no_display) {
105 plotter->
plot(0, nbacq, force);
106 plotter->
plot(1, nbacq, torque);
117 std::cout <<
"F/T: " << ft.
t() << std::endl;
123 std::cout <<
"F/T: " << ft.
t() << std::endl;
134 std::cout <<
"Mean acquisition frequency: " << fps <<
" Hz" << std::endl;
136 #if defined(VISP_HAVE_DISPLAY)
142 std::cout <<
"Test succeed" << std::endl;
147 std::cout <<
"ViSP is not build with IIT force-torque SDK support" << std::endl;
VISP_EXPORT int wait(double t0, double t)
vpColVector getForceTorque()
vpImage< unsigned char > I
vpColVector extract(unsigned int r, unsigned int colsize) const
Implementation of column vector and the associated operations.
VISP_EXPORT double measureTimeMs()
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
bool connected(int timeout_ms=0) const
void setTitle(unsigned int graphNum, const std::string &title)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
static void flush(const vpImage< unsigned char > &I)
void initGraph(unsigned int graphNum, unsigned int curveNbr)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...