Example of a real robot control, the Afma6 robot (cartesian robot, with 6 degrees of freedom).
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpDebug.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <iostream>
#ifdef VISP_HAVE_AFMA6
int main()
{
try {
std::cout << "a test for vpRobotAfma6 class..." << std::endl;
std::cout << "-- Default settings for Afma6 ---" << std::endl;
std::cout << afma6 << std::endl;
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the CCMOP tool without distortion ---" << std::endl;
std::cout << afma6 << std::endl;
std::cout << cam << std::endl;
std::cout << "-- Settings associated to CCMOP tool with distortion ------" << std::endl;
std::cout << afma6 << std::endl;
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the gripper tool without distortion ---" << std::endl;
std::cout << afma6 << std::endl;
std::cout << cam << std::endl;
std::cout << "-- Settings associated to gripper tool with distortion ------" << std::endl;
std::cout << afma6 << std::endl;
std::cout << cam << std::endl;
std::cout << "Catch an exception: " << e << std::endl;
}
return 0;
}
#else
int main()
{
std::cout << "The real Afma6 robot controller is not available." << std::endl;
return 0;
}
#endif