Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
testRobotAfma6.cpp

Example of a real robot control, the Afma6 robot (cartesian robot, with 6 degrees of freedom).

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
*
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* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
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* For using ViSP with software that can not be combined with the GNU
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* Edition License.
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*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
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* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
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* 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/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;
vpRobotAfma6 afma6;
std::cout << "-- Default settings for Afma6 ---" << std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the CCMOP tool without distortion ---" << std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to CCMOP tool with distortion ------" << std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the gripper tool without distortion ---" << std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to gripper tool with distortion ------" << std::endl;
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
} catch (const vpException &e) {
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