ViSP  2.6.2
testAfma6.cpp

Example of a real robot control, the Afma6 robot (cartesian robot, with 6 degrees of freedom).

/****************************************************************************
*
* $Id: testAfma6.cpp 3619 2012-03-09 17:28:57Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Test for Afma 6 dof robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpAfma6.h>
#include <visp/vpDebug.h>
#include <visp/vpCameraParameters.h>
#include <iostream>
int main()
{
try {
std::cout << "a test for vpAfma6 class..." << std::endl;
vpAfma6 afma6;
std::cout << "-- Default settings for Afma6 ---"
<< std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the CCMOP tool without distortion ---"
<< std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the CCMOP tool with distortion ------"
<< std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the gripper tool without distortion ---"
<< std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the gripper tool with distortion ------"
<< std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
return 0;
}
catch(...) {
vpERROR_TRACE(" Test failed");
return 0;
}
}