Visual Servoing Platform  version 3.4.1 under development (2021-10-20)
vpViper650.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the ADEPT Viper 650 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpViper650_h
40 #define vpViper650_h
41 
100 #include <visp3/robot/vpViper.h>
101 
102 class VISP_EXPORT vpViper650 : public vpViper
103 {
104 public:
105 #ifdef VISP_HAVE_VIPER650_DATA
106  static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME;
116  static const std::string CONST_CAMERA_FILENAME;
117 #endif
118 
121  static const char *const CONST_MARLIN_F033C_CAMERA_NAME;
122  static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME;
123  static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
124  static const char *const CONST_GENERIC_CAMERA_NAME;
125 
127  typedef enum {
132  TOOL_CUSTOM
133  } vpToolType;
134 
136  static const vpToolType defaultTool;
137 
138  vpViper650();
139  virtual ~vpViper650(){};
140 
143  void init(void);
144  void init(const std::string &camera_extrinsic_parameters);
145  void
146  init(vpViper650::vpToolType tool,
148  void init(vpViper650::vpToolType tool, const std::string &filename);
149  void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
150 
153 
154  void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
155  const unsigned int &image_height) const;
156  void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
157  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
158 
160  vpToolType getToolType() const { return tool_current; };
161 
162  void parseConfigFile(const std::string &filename);
164 
165 protected:
168  void setToolType(vpViper650::vpToolType tool) { tool_current = tool; };
171 
172 protected:
174  vpToolType tool_current;
175  // Used projection model
177 };
178 
179 #endif
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:115
Modelisation of the ADEPT Viper robot.
Definition: vpViper.h:113
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpViper650.h:176
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:114
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:110
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:111
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:113
virtual ~vpViper650()
Definition: vpViper650.h:139
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpViper650.h:136
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition: vpViper650.h:152
Generic class defining intrinsic camera parameters.
Modelisation of the ADEPT Viper 650 robot.
Definition: vpViper650.h:102
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition: vpViper650.h:121
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper650.h:127
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition: vpViper650.h:122
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition: vpViper650.h:123
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:109
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpViper650.h:124
vpToolType getToolType() const
Get the current tool type.
Definition: vpViper650.h:160
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:112
static const std::string CONST_CAMERA_FILENAME
Definition: vpViper650.h:116