Visual Servoing Platform version 3.5.0
testAfma6.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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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 <visp3/core/vpCameraParameters.h>
47#include <visp3/core/vpConfig.h>
48#include <visp3/core/vpDebug.h>
49#include <visp3/robot/vpAfma6.h>
50
51#include <iostream>
52
53int main()
54{
55 try {
56
57 std::cout << "a test for vpAfma6 class..." << std::endl;
58
59 vpAfma6 afma6;
61
62 std::cout << "-- Default settings for Afma6 ---" << std::endl;
63 std::cout << afma6 << std::endl;
64 afma6.getCameraParameters(cam, 640, 480);
65 std::cout << cam << std::endl;
66
67 std::cout << "-- Settings associated to the CCMOP tool without distortion ---" << std::endl;
69
70 std::cout << afma6 << std::endl;
71 afma6.getCameraParameters(cam, 640, 480);
72 std::cout << cam << std::endl;
73
74 std::cout << "-- Settings associated to the CCMOP tool with distortion ------" << std::endl;
76 std::cout << afma6 << std::endl;
77 afma6.getCameraParameters(cam, 640, 480);
78 std::cout << cam << std::endl;
79
80 std::cout << "-- Settings associated to the gripper tool without distortion ---" << std::endl;
82
83 std::cout << afma6 << std::endl;
84 afma6.getCameraParameters(cam, 640, 480);
85 std::cout << cam << std::endl;
86
87 std::cout << "-- Settings associated to the gripper tool with distortion ------" << std::endl;
89 std::cout << afma6 << std::endl;
90 afma6.getCameraParameters(cam, 640, 480);
91 std::cout << cam << std::endl;
92
93 return 0;
94 } catch (const vpException &e) {
95 std::cout << "Catch an exception: " << e << std::endl;
96 return 1;
97 }
98}
Modelisation of Irisa's gantry robot named Afma6.
Definition: vpAfma6.h:79
void init(void)
Definition: vpAfma6.cpp:160
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpAfma6.cpp:1256
@ TOOL_CCMOP
Definition: vpAfma6.h:127
@ TOOL_GRIPPER
Definition: vpAfma6.h:128
Generic class defining intrinsic camera parameters.
error that can be emited by ViSP classes.
Definition: vpException.h:72