Visual Servoing Platform  version 3.2.1 under development (2019-10-18) under development (2019-10-18)
vpViper850.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 850 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpViper850_h
40 #define vpViper850_h
41 
100 #include <visp3/core/vpConfig.h>
101 #include <visp3/robot/vpViper.h>
102 
103 class VISP_EXPORT vpViper850 : public vpViper
104 {
105 public:
106 #ifdef VISP_HAVE_VIPER850_DATA
107  static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME;
117  static const std::string CONST_CAMERA_FILENAME;
118 #endif
119 
122  static const char *const CONST_MARLIN_F033C_CAMERA_NAME;
123  static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME;
124  static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
125  static const char *const CONST_GENERIC_CAMERA_NAME;
126 
128  typedef enum {
133  TOOL_CUSTOM
134  } vpToolType;
135 
137  static const vpToolType defaultTool;
138 
139  vpViper850();
140  virtual ~vpViper850(){};
141 
144  void init(void);
145  void init(const std::string &camera_extrinsic_parameters);
146  void
147  init(vpViper850::vpToolType tool,
149  void init(vpViper850::vpToolType tool, const std::string &filename);
150  void init(vpViper850::vpToolType tool, const vpHomogeneousMatrix &eMc_);
151 
154 
155  void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
156  const unsigned int &image_height) const;
157  void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
158  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
159 
161  vpToolType getToolType() const { return tool_current; };
162 
163  void parseConfigFile(const std::string &filename);
165 
166 protected:
169  void setToolType(vpViper850::vpToolType tool) { tool_current = tool; };
172 
173 protected:
175  vpToolType tool_current;
176  // Used projection model
178 };
179 
180 #endif
Modelisation of the ADEPT Viper robot.
Definition: vpViper.h:113
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:112
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpViper850.h:137
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:116
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const std::string CONST_CAMERA_FILENAME
Definition: vpViper850.h:117
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition: vpViper850.h:122
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition: vpViper850.h:124
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:110
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpViper850.h:125
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper850.h:128
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:115
Generic class defining intrinsic camera parameters.
Modelisation of the ADEPT Viper 850 robot.
Definition: vpViper850.h:103
vpToolType getToolType() const
Get the current tool type.
Definition: vpViper850.h:161
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:113
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:111
virtual ~vpViper850()
Definition: vpViper850.h:140
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpViper850.h:177
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:114
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition: vpViper850.h:153
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition: vpViper850.h:123