vpViper650.h

/****************************************************************************
 *
 * $Id: vpViper650.h 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:
 * Interface for the ADEPT Viper 650 robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpViper650_h
#define vpViper650_h

#include <visp/vpViper.h>


class VISP_EXPORT vpViper650: public vpViper
{
 public:
#ifdef VISP_HAVE_ACCESS_TO_NAS
  static const char * const CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME;
  static const char * const CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME;
  static const char * const CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME;
  static const char * const CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME;
  static const char * const CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME;
  static const char * const CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME;
  static const char * const CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME;
  static const char * const CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME;
  static const char * const CONST_CAMERA_FILENAME;
#endif

  static const char * const CONST_MARLIN_F033C_CAMERA_NAME;
  static const char * const CONST_PTGREY_FLEA2_CAMERA_NAME;
  static const char * const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
  static const char * const CONST_GENERIC_CAMERA_NAME;

  typedef enum {
    TOOL_MARLIN_F033C_CAMERA,   
    TOOL_PTGREY_FLEA2_CAMERA,   
    TOOL_SCHUNK_GRIPPER_CAMERA, 
    TOOL_GENERIC_CAMERA         
  } vpToolType;

  static const vpToolType defaultTool;

  vpViper650();
  virtual ~vpViper650() {};

  void init (void);
#ifdef VISP_HAVE_ACCESS_TO_NAS
  void init(const char *camera_extrinsic_parameters);
#endif
  void init (vpViper650::vpToolType tool,
         vpCameraParameters::vpCameraParametersProjType projModel =
         vpCameraParameters::perspectiveProjWithoutDistortion);


  vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const {
    return projModel;
  };

  void getCameraParameters(vpCameraParameters &cam,
               const unsigned int &image_width,
               const unsigned int &image_height) const;
  void getCameraParameters(vpCameraParameters &cam,
               const vpImage<unsigned char> &I) const;
  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;

  vpToolType getToolType() const{
    return tool_current;
  };

#ifdef VISP_HAVE_ACCESS_TO_NAS
  void parseConfigFile (const char * filename);
#endif

 protected:
  void setToolType(vpViper650::vpToolType tool){
    tool_current = tool;
  };

 protected:
  vpToolType tool_current;
  // Used projection model
  vpCameraParameters::vpCameraParametersProjType projModel;

};

#endif