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testRobotViper850.cpp

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

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* 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 <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotViper850.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpCameraParameters.h>
#include <iostream>
#ifdef VISP_HAVE_VIPER850
int main()
{
try {
std::cout << "a test for vpRobotViper850 class..." << std::endl;
vpRobotViper850 viper850;
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;
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;
std::cout << viper850 << std::endl;
viper850.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Current joint position:" << std::endl;
std::cout << " " << q.t() << std::endl;
std::cout << "-- Current fMe:" << std::endl;
viper850.get_fMe(q, fMe);
fMe.extract(t);
fMe.extract(R);
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