Visual Servoing Platform version 3.5.0
testRobotViper850.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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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 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
46#include <iostream>
47#include <visp3/core/vpCameraParameters.h>
48#include <visp3/core/vpConfig.h>
49#include <visp3/core/vpDebug.h>
50#include <visp3/robot/vpRobotViper850.h>
51#ifdef VISP_HAVE_VIPER850
52
53int main()
54{
55 try {
56
57 std::cout << "a test for vpRobotViper850 class..." << std::endl;
58
59 vpRobotViper850 viper850;
61
62 std::cout << "-- Default settings for Viper850 ---" << std::endl;
63 std::cout << viper850 << std::endl;
64 viper850.getCameraParameters(cam, 640, 480);
65 std::cout << cam << std::endl;
66
67 std::cout << "-- Settings associated to the Marlin F033C camera without "
68 "distortion ---"
69 << std::endl;
71
72 std::cout << viper850 << std::endl;
73 viper850.getCameraParameters(cam, 640, 480);
74 std::cout << cam << std::endl;
75
76 std::cout << "-- Settings associated to the Marlin F033C camera with "
77 "distortion ------"
78 << std::endl;
80 std::cout << viper850 << std::endl;
81 viper850.getCameraParameters(cam, 640, 480);
82 std::cout << cam << std::endl;
83
84 std::cout << "-- Current joint position:" << std::endl;
87 std::cout << " " << q.t() << std::endl;
88
89 std::cout << "-- Current fMe:" << std::endl;
90
92 viper850.get_fMe(q, fMe);
94 fMe.extract(t);
96 fMe.extract(R);
97 vpRzyzVector rzyz;
98 rzyz.buildFrom(R);
99
100 std::cout << "fMe:" << std::endl
101 << "\tt: " << t.t() << std::endl
102 << "\trzyz (deg): " << vpMath::deg(rzyz[0]) << " " << vpMath::deg(rzyz[1]) << " " << vpMath::deg(rzyz[2])
103 << std::endl;
104
105 } catch (const vpException &e) {
106 std::cout << "Catch an exception: " << e << std::endl;
107 }
108 return 0;
109}
110#else
111int main()
112{
113 std::cout << "The real Viper850 robot controller is not available." << std::endl;
114 return 0;
115}
116
117#endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
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:103
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:183
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
vpRowVector t() const
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper850.cpp:558
@ TOOL_MARLIN_F033C_CAMERA
Definition: vpViper850.h:129
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
Definition: vpViper.cpp:715