Visual Servoing Platform version 3.5.0
testViper850.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 Viper850 6 dof robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
46#include <visp3/core/vpConfig.h>
47#include <visp3/core/vpDebug.h>
48#include <visp3/robot/vpViper850.h>
49
50#include <iostream>
51
52int main()
53{
54 try {
55
56 std::cout << "a test for vpViper850 class..." << std::endl;
57
58 vpViper850 viper850;
60
61 std::cout << "-- Default settings for Viper 850 ---" << std::endl;
62 std::cout << viper850 << std::endl;
63 viper850.getCameraParameters(cam, 640, 480);
64 std::cout << cam << std::endl;
65
66 std::cout << "-- Settings associated to the Marlin F033C camera without "
67 "distortion ---"
68 << std::endl;
70
71 std::cout << viper850 << std::endl;
72 viper850.getCameraParameters(cam, 640, 480);
73 std::cout << cam << std::endl;
74
75 std::cout << "-- Settings associated to the Marlin F033C camera with "
76 "distortion ------"
77 << std::endl;
79 std::cout << viper850 << std::endl;
80 viper850.getCameraParameters(cam, 640, 480);
81 std::cout << cam << std::endl;
82
83 vpColVector qmotor(6);
84#if 1
85 qmotor[0] = vpMath::rad(30);
86 qmotor[1] = vpMath::rad(-100);
87 qmotor[2] = vpMath::rad(180);
88 qmotor[3] = vpMath::rad(20);
89 qmotor[4] = vpMath::rad(90);
90 qmotor[5] = vpMath::rad(13.37);
91#else
92 qmotor[0] = vpMath::rad(0);
93 qmotor[1] = vpMath::rad(0 - 90);
94 qmotor[2] = vpMath::rad(0);
95 qmotor[3] = vpMath::rad(0);
96 qmotor[4] = vpMath::rad(0);
97 qmotor[5] = vpMath::rad(0);
98#endif
100 viper850.get_fMe(qmotor, fMe);
101
103 fMe.extract(t);
105 fMe.extract(R);
106 vpRzyzVector r;
107 r.buildFrom(R);
108
109 std::cout << "fMe:" << std::endl
110 << "\tt: " << t.t() << std::endl
111 << "\trzyz (rad): " << r.t() << std::endl
112 << "\trzyz (deg): " << vpMath::deg(r[0]) << " " << vpMath::deg(r[1]) << " " << vpMath::deg(r[2])
113 << std::endl;
114
115 return 0;
116 } catch (const vpException &e) {
117 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
118 return 1;
119 }
120}
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:92
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:110
static double deg(double rad)
Definition: vpMath.h:103
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 850 robot.
Definition: vpViper850.h:104
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper850.cpp:558
@ TOOL_MARLIN_F033C_CAMERA
Definition: vpViper850.h:129
void init(void)
Definition: vpViper850.cpp:136
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
Definition: vpViper.cpp:715