Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpViper650.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface for the ADEPT Viper 650 robot.
32  */
33 
34 #ifndef vpViper650_h
35 #define vpViper650_h
36 
37 #include <visp3/robot/vpViper.h>
38 
92 class VISP_EXPORT vpViper650 : public vpViper
93 {
94 public:
95 #ifdef VISP_HAVE_VIPER650_DATA
106  static const std::string CONST_CAMERA_FILENAME;
107 #endif
111  static const char *const CONST_MARLIN_F033C_CAMERA_NAME;
112  static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME;
113  static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
114  static const char *const CONST_GENERIC_CAMERA_NAME;
115 
117  typedef enum
118  {
123  TOOL_CUSTOM
124  } vpToolType;
125 
127  static const vpToolType defaultTool;
128 
129  vpViper650();
130 
133  void init(void);
134  void init(const std::string &camera_extrinsic_parameters);
135  void
136  init(vpViper650::vpToolType tool,
138  void init(vpViper650::vpToolType tool, const std::string &filename);
139  void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
140 
143 
144  void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
145  const unsigned int &image_height) const;
146  void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
147  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
148 
150  vpToolType getToolType() const { return tool_current; };
151 
152  void parseConfigFile(const std::string &filename);
154 
155 protected:
159  void setToolType(vpViper650::vpToolType tool) { tool_current = tool; };
161 
162 protected:
165  // Used projection model
167 };
168 
169 #endif
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Modelization of the ADEPT Viper 650 robot.
Definition: vpViper650.h:93
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:104
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition: vpViper650.h:112
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpViper650.h:166
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:102
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpViper650.h:127
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:103
vpToolType getToolType() const
Get the current tool type.
Definition: vpViper650.h:150
vpToolType tool_current
Current tool in use.
Definition: vpViper650.h:159
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:105
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpViper650.h:114
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:99
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition: vpViper650.h:142
void setToolType(vpViper650::vpToolType tool)
Set the current tool type.
Definition: vpViper650.h:159
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper650.h:118
@ TOOL_MARLIN_F033C_CAMERA
Definition: vpViper650.h:119
@ TOOL_SCHUNK_GRIPPER_CAMERA
Definition: vpViper650.h:121
@ TOOL_GENERIC_CAMERA
Definition: vpViper650.h:122
@ TOOL_PTGREY_FLEA2_CAMERA
Definition: vpViper650.h:120
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition: vpViper650.h:111
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:100
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition: vpViper650.h:101
static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
Definition: vpViper650.h:98
static const std::string CONST_CAMERA_FILENAME
Definition: vpViper650.h:106
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition: vpViper650.h:113
Modelization of the ADEPT Viper robot.
Definition: vpViper.h:111