Visual Servoing Platform version 3.6.0
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testRobotViper850.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for Afma 6 dof robot.
33 *
34*****************************************************************************/
35
43#include <iostream>
44#include <visp3/core/vpCameraParameters.h>
45#include <visp3/core/vpConfig.h>
46#include <visp3/core/vpDebug.h>
47#include <visp3/robot/vpRobotViper850.h>
48#ifdef VISP_HAVE_VIPER850
49
50int main()
51{
52 try {
53
54 std::cout << "a test for vpRobotViper850 class..." << std::endl;
55
56 vpRobotViper850 viper850;
58
59 std::cout << "-- Default settings for Viper850 ---" << std::endl;
60 std::cout << viper850 << std::endl;
61 viper850.getCameraParameters(cam, 640, 480);
62 std::cout << cam << std::endl;
63
64 std::cout << "-- Settings associated to the Marlin F033C camera without "
65 "distortion ---"
66 << std::endl;
68
69 std::cout << viper850 << std::endl;
70 viper850.getCameraParameters(cam, 640, 480);
71 std::cout << cam << std::endl;
72
73 std::cout << "-- Settings associated to the Marlin F033C camera with "
74 "distortion ------"
75 << std::endl;
77 std::cout << viper850 << std::endl;
78 viper850.getCameraParameters(cam, 640, 480);
79 std::cout << cam << std::endl;
80
81 std::cout << "-- Current joint position:" << std::endl;
84 std::cout << " " << q.t() << std::endl;
85
86 std::cout << "-- Current fMe:" << std::endl;
87
89 viper850.get_fMe(q, fMe);
91 fMe.extract(t);
93 fMe.extract(R);
94 vpRzyzVector rzyz;
95 rzyz.buildFrom(R);
96
97 std::cout << "fMe:" << std::endl
98 << "\tt: " << t.t() << std::endl
99 << "\trzyz (deg): " << vpMath::deg(rzyz[0]) << " " << vpMath::deg(rzyz[1]) << " " << vpMath::deg(rzyz[2])
100 << std::endl;
101 return EXIT_SUCCESS;
102 } catch (const vpException &e) {
103 std::cout << "Catch an exception: " << e << std::endl;
104 return EXIT_FAILURE;
105 }
106}
107#else
108int main()
109{
110 std::cout << "The real Viper850 robot controller is not available." << std::endl;
111 return EXIT_SUCCESS;
112}
113
114#endif
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Implementation of column vector and the associated operations.
vpRowVector t() const
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double deg(double rad)
Definition vpMath.h:106
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
@ ARTICULAR_FRAME
Definition vpRobot.h:76
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
@ TOOL_MARLIN_F033C_CAMERA
Definition vpViper850.h:126
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
Definition vpViper.cpp:707