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tutorial-pioneer-robot.cpp
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#include <iostream>
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#include <visp/vpRobotPioneer.h>
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int
main()
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{
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#ifdef VISP_HAVE_PIONEER
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ArArgumentBuilder args;
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args.add(
"-rp"
);
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#ifdef UNIX
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args.add(
"/dev/ttyUSB0"
);
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#else
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args.add(
"COM3"
);
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#endif
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ArSimpleConnector conn(&args);
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vpRobotPioneer
robot;
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if
(!conn.connectRobot(&robot))
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return
-1;
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robot.
useSonar
(
false
);
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vpTime::wait
(2000);
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vpColVector
v(2);
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v = 0;
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v[0] = 0.10;
// Translational velocity in m/s
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robot.
setVelocity
(
vpRobot::REFERENCE_FRAME
, v);
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vpTime::wait
(1000);
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vpColVector
v_mes = robot.
getVelocity
(
vpRobot::REFERENCE_FRAME
);
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std::cout <<
"Measured vel: "
<< v_mes.
t
() << std::endl;
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vpTime::wait
(1000);
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robot.stopRunning();
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robot.waitForRunExit();
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#endif
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}
tutorial
robot
pioneer
tutorial-pioneer-robot.cpp
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