Visual Servoing Platform version 3.6.0
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testViper650.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for Viper650 6 dof robot.
33 *
34*****************************************************************************/
35
43#include <visp3/core/vpConfig.h>
44#include <visp3/core/vpDebug.h>
45#include <visp3/robot/vpViper650.h>
46
47#include <iostream>
48
49int main()
50{
51 try {
52
53 std::cout << "a test for vpViper650 class..." << std::endl;
54
55 vpViper650 viper650;
57
58 std::cout << "-- Default settings for Viper 650 ---" << std::endl;
59 std::cout << viper650 << std::endl;
60 viper650.getCameraParameters(cam, 640, 480);
61 std::cout << cam << std::endl;
62
63 std::cout << "-- Settings associated to the Marlin F033C camera without "
64 "distortion ---"
65 << std::endl;
67
68 std::cout << viper650 << std::endl;
69 viper650.getCameraParameters(cam, 640, 480);
70 std::cout << cam << std::endl;
71
72 std::cout << "-- Settings associated to the Marlin F033C camera with "
73 "distortion ------"
74 << std::endl;
76 std::cout << viper650 << std::endl;
77 viper650.getCameraParameters(cam, 640, 480);
78 std::cout << cam << std::endl;
79
80 vpColVector qmotor(6);
81#if 1
82 qmotor[0] = vpMath::rad(30);
83 qmotor[1] = vpMath::rad(-100);
84 qmotor[2] = vpMath::rad(180);
85 qmotor[3] = vpMath::rad(20);
86 qmotor[4] = vpMath::rad(90);
87 qmotor[5] = vpMath::rad(13.37);
88#else
89 qmotor[0] = vpMath::rad(0);
90 qmotor[1] = vpMath::rad(0 - 90);
91 qmotor[2] = vpMath::rad(0);
92 qmotor[3] = vpMath::rad(0);
93 qmotor[4] = vpMath::rad(0);
94 qmotor[5] = vpMath::rad(0);
95#endif
97 viper650.get_fMe(qmotor, fMe);
98
100 fMe.extract(t);
102 fMe.extract(R);
103 vpRzyzVector r;
104 r.buildFrom(R);
105
106 std::cout << "fMe:" << std::endl
107 << "\tt: " << t.t() << std::endl
108 << "\trzyz (rad): " << r.t() << std::endl
109 << "\trzyz (deg): " << vpMath::deg(r[0]) << " " << vpMath::deg(r[1]) << " " << vpMath::deg(r[2])
110 << std::endl;
111
112 return EXIT_SUCCESS;
113 } catch (const vpException &e) {
114 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
115 return EXIT_FAILURE;
116 }
117}
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
const std::string & getStringMessage() const
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:116
static double deg(double rad)
Definition vpMath.h:106
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.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
Modelisation of the ADEPT Viper 650 robot.
Definition vpViper650.h:100
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void init(void)
@ TOOL_MARLIN_F033C_CAMERA
Definition vpViper650.h:125
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
Definition vpViper.cpp:707