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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 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
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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
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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;
    vpCameraParameters cam;

    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;
    afma6.init(vpAfma6::TOOL_CCMOP);

    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;
    afma6.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithDistortion);
    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;
    afma6.init(vpAfma6::TOOL_GRIPPER);

    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;
    afma6.init(vpAfma6::TOOL_GRIPPER, vpCameraParameters::perspectiveProjWithDistortion);
    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