testRobotViper850.cpp

Example of a real robot control, the Viper850 robot (arm, with 6 degrees of freedom).

/****************************************************************************
 *
 * $Id: testRobotViper850.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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/vpRobotViper850.h>
#include <visp/vpDebug.h>
#include <visp/vpCameraParameters.h>
#include <iostream>
#ifdef VISP_HAVE_VIPER850

int main()
{
  try {

    std::cout << "a test for vpRobotViper850 class..." << std::endl;

    vpRobotViper850 viper850;
    vpCameraParameters cam;

    std::cout << "-- Default settings for Viper850  ---" 
              << std::endl;
    std::cout << viper850 << std::endl;
    viper850.getCameraParameters(cam, 640, 480);
    std::cout << cam << std::endl;

    std::cout << "-- Settings associated to the Marlin F033C camera without distortion ---" 
              << std::endl;
    viper850.init( vpViper850::TOOL_MARLIN_F033C_CAMERA);

    std::cout << viper850 << std::endl;
    viper850.getCameraParameters(cam, 640, 480);
    std::cout << cam << std::endl;

    std::cout << "-- Settings associated to the Marlin F033C camera with distortion ------" 
              << std::endl;
    viper850.init( vpViper850::TOOL_MARLIN_F033C_CAMERA,
                   vpCameraParameters::perspectiveProjWithDistortion);
    std::cout << viper850 << std::endl;
    viper850.getCameraParameters(cam, 640, 480);
    std::cout << cam << std::endl;


    std::cout << "-- Current joint position:" << std::endl;
    vpColVector q;
    viper850.getPosition(vpRobot::ARTICULAR_FRAME, q);
    std::cout << "  " << q.t() << std::endl;

    std::cout << "-- Current fMe:" << std::endl;

    vpHomogeneousMatrix fMe;
    viper850.get_fMe(q, fMe);
    vpTranslationVector t;
    fMe.extract(t);
    vpRotationMatrix R;
    fMe.extract(R);
    vpRzyzVector rzyz;
    rzyz.buildFrom(R);

    std::cout << "fMe:" << std::endl
              << "\tt: " << t.t() << std::endl
              << "\trzyz (deg): " << vpMath::deg(rzyz[0])
              << " " << vpMath::deg(rzyz[1])
              << " " << vpMath::deg(rzyz[2]) << std::endl;

  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
  return 0;
}
#else
int main()
{
  std::cout << "The real Viper850 robot controller is not available." << std::endl;
  return 0; 
}

#endif