70 #include <visp3/core/vpHomogeneousMatrix.h>
71 #include <visp3/core/vpImage.h>
72 #include <visp3/core/vpRGBa.h>
73 #include <visp3/core/vpCameraParameters.h>
74 #include <visp3/core/vpVelocityTwistMatrix.h>
79 #ifdef VISP_HAVE_AFMA6_DATA
80 static const std::string CONST_AFMA6_FILENAME;
135 void init (
const std::string &camera_extrinsic_parameters);
136 void init(
const std::string &camera_extrinsic_parameters,
const std::string &camera_intrinsic_parameters);
145 const bool &verbose=
false)
const;
167 const unsigned int &image_width,
168 const unsigned int &image_height)
const;
175 double getCoupl56()
const;
176 double getLong56()
const;
178 void parseConfigFile (
const std::string &filename);
183 friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
const vpAfma6 & afma6);
196 static const unsigned int njoint;
202 double _joint_max[6];
203 double _joint_min[6];
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Modelisation of Irisa's gantry robot named Afma6.
Implementation of a matrix and operations on matrices.
Perspective projection without distortion model.
static const std::string CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME
vpAfma6ToolType getToolType() const
Get the current tool type.
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME
static const std::string CONST_CAMERA_AFMA6_FILENAME
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
vpCameraParameters::vpCameraParametersProjType projModel
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
static const char *const CONST_GRIPPER_CAMERA_NAME
static const vpAfma6ToolType defaultTool
Default tool attached to the robot end effector.
static const std::string CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME
static const std::string CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME
vpCameraParametersProjType
Generic class defining intrinsic camera parameters.
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Implementation of a velocity twist matrix and operations on such kind of matrices.
vpAfma6ToolType tool_current
Current tool in use.
static const std::string CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME
Implementation of column vector and the associated operations.
Implementation of a rotation vector as Euler angle minimal representation.
static const char *const CONST_CCMOP_CAMERA_NAME
static const std::string CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME
static const char *const CONST_VACUUM_CAMERA_NAME
Class that consider the case of a translation vector.
static const char *const CONST_GENERIC_CAMERA_NAME