测量样本

本示例展示了如何使用 CPP HaplyHardwareAPI 将 Inverse3 用作纯输入设备。 完整示例可在文件末尾找到，但主要步骤如下：

包括必要的标题

#include "HardwareAPI.h"

查找设备并打开连接

std::vector ports =
            Haply::HardwareAPI::Devices::DeviceDetection::DetectInverse3s(); // List all the available devices
Haply::HardwareAPI::IO::SerialStream serial_stream(ports[0].c_str()); // Open the connection to the first device found
Haply::HardwareAPI::Devices::Inverse3 inverse3(&serial_stream; // Create the device object
Haply::HardwareAPI::Devices::Inverse3::DeviceInfoResponse response_to_wake = inverse3.DeviceWakeup(); // Get the device info

获取位置测量值

从 Inverse3 获取位置测量值有两种方法。 第一种是利用设备内置的运动学，第二种是利用计算机解析的运动学。

使用设备内置运动学

使用设备内置的运动学原理是获取位置测量值的最简单方法，它会自动调整底座的方向，并返回末端效应器的位置。

// In a loop
while(True) {
        Haply::HardwareAPI::Devices::Inverse3::EndEffectorStateResponse
            response = inverse3.GetEndEffectorPosition();
        printf("Position: %f %f %f\n", response.position[0],
               response.position[1], response.position[2]);
}

使用计算机上解析的运动学数据

由于我们使用 IMU 来获取底座的方向，因此在非常精确的应用中，它可能会导致位置测量的变化。 为了避免这种情况，可以在计算机上解决运动学问题，并手动设置底座的角度，使其与物理设置相匹配。

// Set the angles of the base, default position is upright
// Inverse3.AdjustAngles([angle0, angle1, angle2]);

// In a loop
while(True) {
        Haply::HardwareAPI::Devices::Inverse3::EndEffectorStateResponse
            response = inverse3.GetEndEffectorPosition(false);
        printf("Position: %f %f %f\n", response.position[0],
               response.position[1], response.position[2]);
}

完整示例

#include <string.h>

#include <chrono>
#include <iostream>
#include <iterator>
#include <string>
#include <thread>

#include "HardwareAPI.h"

int main(int argc, char* argv[])
{
    char* portName;

    if (argc < 2)
    {
        std::vector ports =
            Haply::HardwareAPI::Devices::DeviceDetection::DetectInverse3s();
        std::string portNames[256];
        int nbport = ports.size();
#if defined _DEBUG
        printf("Found %d ports: \n", nbport);
#endif
        if (nbport > 0)
        {
            int index = nbport - 1;
#if defined(_WIN32) || defined(_WIN64)
            portName = _strdup(ports[index].c_str());
#endif
#if defined(__linux__) || defined(__APPLE__)
            portName = strdup(ports[index].c_str());
#endif
        }
        else
        {
#if defined _DEBUG
            std::cout << "No Inverse3 found" << std::endl;
#endif
            return -1;
        }
    }
    else
    {
#if defined(_WIN32) || defined(_WIN64)
        portName = _strdup(argv[1]);  // argv1;
#endif
#if defined(__linux__)
        portName = strdup(argv[1]);  // argv1;
#endif
    }

#if defined _DEBUG
    printf("Using port %s\n", portName);
#endif
    Haply::HardwareAPI::IO::SerialStream serial_stream(portName);
    if (serial_stream.OpenDevice() < 0)
        printf("unable to open serial stream for '%s'", portName);
    Haply::HardwareAPI::Devices::Inverse3 inverse3(&serial_stream);
    Haply::HardwareAPI::Devices::Inverse3::DeviceInfoResponse response_to_wake =
        inverse3.DeviceWakeup();
#if defined _DEBUG
    std::cout << std::endl << "Press ENTER to continue . . .";
    std::cin.get();
#endif
    while (true)
    {
        // This is the fast update loop
        // To Use the Inverse3 as a pure measurement device, use the following
        // functions Inverse3.GetEndEffectorPosition(); // for standard
        // Kinematics For added precision, the kinematics can be resolved on the
        // computer with the following functions
        // Inverse3.GetEndEffectorPosition(false); for on-computer Kinematics
        // When using the on-computer Kinematics, the angles of the base can be
        // adjusted with the following function to match the physical setup:
        // Inverse3.AdjustAngles([angle0, angle1, angle2]);
        Haply::HardwareAPI::Devices::Inverse3::EndEffectorStateResponse
            response = inverse3.GetEndEffectorPosition(false);
        printf("Position: %f %f %f\n", response.position[0],
               response.position[1], response.position[2]);

        std::this_thread::sleep_for(std::chrono::microseconds(100));
    }
}