Usage Examples

Two example applications are included in this distribution.

• TestObjectAndSensorViewer TestObjectAndSensorViewer demonstrates usage of SimTactileSensor to represent generic tactile sensors.
• TestPPSMockUp TestPPSMockUp is a similar demo that uses SimPPS and allows interaction with an input 3D model specified on the command line.

TestObjectAndSensorViewer

This application allows you to interact with 3 simulated tactile sensors using an object with parts of various shapes.

Two windows are displayed, one showing the object and sensors (External View) and one showing the output of the simualted sensors (Sensor View).

Keyboard commands:

• Q / Esc - Quit
• M - Control object model's position and orientation
• S - Control sensors' position and orientation
• Z - Toggle zoom mode

Mouse control - all apply to the currently-controlled object(s):

• Left mouse button - Rotate
• Right mouse button - Translate in the X-Y plane
• Middle mouse button - Translate along the Z-axis

TestObjectAndSensorViewer Screenshot

TestPPSMockUp

This application allows you to interact with a simulated system of two side-by-side tactile sensors based on a real set of sensors from Presure Profile Systems (PPS) using a 3D model (in OFF format) specified as a command-line argument. A sample model of an H-shaped object is available at examples/h.off, and many more can be obtained from the Princeton Shape Benchmark.

e.g. if your build and source tree are set up as in the Installation Instructions, you can run the application with a provided 3D model with

 ~/tmp/build$ ./bin/TestPPSMockUp ../MAPS-TFSS/examples/h.off 

Two windows are displayed, one showing the object and sensors (External View) and one showing the output of the simualted sensors (Sensor View).

Keyboard commands:

• Q / Esc - Quit
• M - Control object model's position and orientation
• S - Control sensors' position and orientation
• Z - Toggle zoom mode

Mouse control - all apply to the currently-controlled object(s):

• Left mouse button - Rotate
• Right mouse button - Translate in the X-Y plane
• Middle mouse button - Translate along the Z-axis

TestPPSMockUp Screenshot