Very simple demonstration program using the SDHLibrary-CPP: Make an attached SDH move one finger with "pose" controller type (coordinated position control). See __help__ and online help ("-h" or "--help") for available options. More...

#include <iostream>
#include <vector>
#include "sdh/sdh.h"
#include "sdh/util.h"
#include "sdh/sdhlibrary_settings.h"
#include "sdh/basisdef.h"
#include "sdhoptions.h"

Include dependency graph for demo-simple.cpp:

Go to the source code of this file.

Some informative variables

char const *	__author__ = "Dirk Osswald: dirk.osswald@de.schunk.com"

char const *	__copyright__ = "Copyright (c) 2007 SCHUNK GmbH & Co. KG"

char const *	__help__

char const *	__url__ = "http://www.schunk.com"

char const *	__version__ = "$Id: demo-simple.cpp 11045 2013-11-27 15:12:49Z Osswald2 $"

int	main (int argc, char **argv)

char const *	usage

Detailed Description

Very simple demonstration program using the SDHLibrary-CPP: Make an attached SDH move one finger with "pose" controller type (coordinated position control). See __help__ and online help ("-h" or "--help") for available options.

General file information

Author: Dirk Osswald

Date: 2007-01-18

This code contains only the very basicst use of the features provided by the SDHLibrary-CPP. For more sophisticated applications see the other demo-*.cpp programms, or of course the html/pdf documentation.

Copyright

Definition in file demo-simple.cpp.

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 106 of file demo-simple.cpp.

Variable Documentation

◆ author

char const* __author__ = "Dirk Osswald: dirk.osswald@de.schunk.com"

Definition at line 93 of file demo-simple.cpp.

◆ copyright

Definition at line 96 of file demo-simple.cpp.

◆ help

char const* __help__

Initial value:

=
    "Move proximal and distal joints of finger 1 three times by 10 degrees.\n"
    "(C++ demo application using the SDHLibrary-CPP library.)\n"
    "\n"
    "- Example usage:\n"
    "  - Make SDH connected via Ethernet move.\n"
    "    The SDH has IP-Address 192.168.1.42 and is attached to TCP port 23.\n"
    "    (Requires at least SDH-firmware v0.0.3.1)\n"
    "    > demo-simple --tcp=192.168.1.42:23\n"
    "     \n"
    "  - Make SDH connected to port 2 = COM3 move:\n"
    "    > demo-simple -p 2\n"
    "     \n"
    "  - Make SDH connected to USB to RS232 converter 0 move:\n"
    "    > demo-simple --sdh_rs_device=/dev/ttyUSB0 \n"
    "     \n"
    "  - Get the version info of both the joint controllers and the tactile \n"
    "    sensor firmware from an SDH connected via Ethernet.\n"
    "    The joint controllers and the tactile sensors have a common IP-Address,\n"
    "    here 192.168.1.42. The SDH controller is attached to the \n"
    "    default TCP port 23 and the tactile sensors to the default TCP port 13000.\n"
    "    (Requires at least SDH-firmware v0.0.3.2)\n"
    "    > demo-simple --tcp=192.168.1.42 --dsa_tcp -v\n"
    "     \n"
    "  - Get the version info of an SDH connected to port 2 = COM3 \n"
    "    > demo-simple --port=2 -v\n"

Definition at line 67 of file demo-simple.cpp.

◆ url

char const* __url__ = "http://www.schunk.com"

Definition at line 94 of file demo-simple.cpp.

◆ version

char const* __version__ = "$Id: demo-simple.cpp 11045 2013-11-27 15:12:49Z Osswald2 $"

Definition at line 95 of file demo-simple.cpp.

◆ usage

char const* usage

Initial value:

=

"usage: demo-simple [options]\n"

Definition at line 101 of file demo-simple.cpp.

Some informative variables