Visual Servoing Platform  version 3.5.1 under development (2022-07-07)
testViper650.cpp

Example of a real robot control, the Viper robot (arm 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
* 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
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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 Viper650 6 dof robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/robot/vpViper650.h>
#include <iostream>
int main()
{
try {
std::cout << "a test for vpViper650 class..." << std::endl;
vpViper650 viper650;
std::cout << "-- Default settings for Viper 650 ---" << std::endl;
std::cout << viper650 << std::endl;
viper650.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the Marlin F033C camera without "
"distortion ---"
<< std::endl;
std::cout << viper650 << std::endl;
viper650.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the Marlin F033C camera with "
"distortion ------"
<< std::endl;
std::cout << viper650 << std::endl;
viper650.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
vpColVector qmotor(6);
#if 1
qmotor[0] = vpMath::rad(30);
qmotor[1] = vpMath::rad(-100);
qmotor[2] = vpMath::rad(180);
qmotor[3] = vpMath::rad(20);
qmotor[4] = vpMath::rad(90);
qmotor[5] = vpMath::rad(13.37);
#else
qmotor[0] = vpMath::rad(0);
qmotor[1] = vpMath::rad(0 - 90);
qmotor[2] = vpMath::rad(0);
qmotor[3] = vpMath::rad(0);
qmotor[4] = vpMath::rad(0);
qmotor[5] = vpMath::rad(0);
#endif
viper650.get_fMe(qmotor, fMe);
fMe.extract(t);
fMe.extract(R);
r.buildFrom(R);
std::cout << "fMe:" << std::endl
<< "\tt: " << t.t() << std::endl
<< "\trzyz (rad): " << r.t() << std::endl
<< "\trzyz (deg): " << vpMath::deg(r[0]) << " " << vpMath::deg(r[1]) << " " << vpMath::deg(r[2])
<< std::endl;
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
return 1;
}
}
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
const std::string & getStringMessage() const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:89
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition: vpMath.h:117
static double deg(double rad)
Definition: vpMath.h:110
Implementation of a rotation matrix and operations on such kind of matrices.
vpRowVector t() const
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRzyzVector.h:183
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
vpRowVector t() const
Modelisation of the ADEPT Viper 650 robot.
Definition: vpViper650.h:103
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper650.cpp:564
void init(void)
Definition: vpViper650.cpp:135
@ TOOL_MARLIN_F033C_CAMERA
Definition: vpViper650.h:128
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
Definition: vpViper.cpp:715