52 #include <visp/vpConfig.h>
53 #include <visp/vpRobotViper850.h>
54 #include <visp/vpDebug.h>
55 #include <visp/vpCameraParameters.h>
57 #ifdef VISP_HAVE_VIPER850
63 std::cout <<
"a test for vpRobotViper850 class..." << std::endl;
68 std::cout <<
"-- Default settings for Viper850 ---"
70 std::cout << viper850 << std::endl;
72 std::cout << cam << std::endl;
74 std::cout <<
"-- Settings associated to the Marlin F033C camera without distortion ---"
78 std::cout << viper850 << std::endl;
80 std::cout << cam << std::endl;
82 std::cout <<
"-- Settings associated to the Marlin F033C camera with distortion ------"
86 std::cout << viper850 << std::endl;
88 std::cout << cam << std::endl;
91 std::cout <<
"-- Current joint position:" << std::endl;
94 std::cout <<
" " << q.
t() << std::endl;
96 std::cout <<
"-- Current fMe:" << std::endl;
107 std::cout <<
"fMe:" << std::endl
108 <<
"\tt: " << t.
t() << std::endl
115 std::cout <<
"Catch an exception: " << e << std::endl;
122 std::cout <<
"The real Viper850 robot controller is not available." << std::endl;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Control of Irisa's Viper S850 robot named Viper850.
error that can be emited by ViSP classes.
The vpRotationMatrix considers the particular case of a rotation matrix.
vpRowVector t() const
transpose of Vector
Generic class defining intrinsic camera parameters.
void extract(vpRotationMatrix &R) const
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
Perspective projection with distortion model.
static double deg(double rad)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Class that consider the case of the Euler angles using the z-y-z convention, where are respectively...
void buildFrom(const double phi, const double theta, const double psi)
Class that consider the case of a translation vector.