47 #include <visp3/robot/vpQbSoftHand.h>
48 #include <visp3/core/vpTime.h>
52 #ifdef VISP_HAVE_QBDEVICE
53 std::cout <<
"Test qbSoftHand device" << std::endl;
61 double speed_factor = 0.5;
62 double stiffness = 0.7;
63 std::cout <<
"** Close the hand with blocking positioning function" << std::endl;
67 std::cout <<
"** Open the hand with blocking positioning function" << std::endl;
77 std::cout <<
"** Close the hand with non-blocking positioning function" << std::endl;
78 for(
int i=1; i <= 10; i++) {
81 if (std::fabs(current[0]) > max_current/2) {
82 std::cout <<
"Stop closure, current > " << max_current/2 << std::endl;
90 std::cout <<
"** Open the hand with non-blocking positioning function" << std::endl;
91 for(
int i=i_max; i >= 0; i--) {
99 std::cout <<
"The end" << std::endl;
105 std::cout <<
"ViSP is not build with qbdevice 3rd party" << std::endl;