69#include <visp3/core/vpCameraParameters.h>
70#include <visp3/core/vpHomogeneousMatrix.h>
71#include <visp3/core/vpImage.h>
72#include <visp3/core/vpRGBa.h>
73#include <visp3/core/vpVelocityTwistMatrix.h>
78#ifdef VISP_HAVE_AFMA6_DATA
143 void init(
const std::string &camera_extrinsic_parameters);
144 void init(
const std::string &camera_extrinsic_parameters,
const std::string &camera_intrinsic_parameters);
153 const bool &verbose =
false)
const;
171 const unsigned int &image_height)
const;
177 double getCoupl56()
const;
178 double getLong56()
const;
180 void parseConfigFile(
const std::string &filename);
185 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpAfma6 &afma6);
200 double _joint_max[6];
201 double _joint_min[6];
Modelisation of Irisa's gantry robot named Afma6.
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
static const char *const CONST_CCMOP_CAMERA_NAME
static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME
static const std::string CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME
static const std::string CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME
static const std::string CONST_CAMERA_AFMA6_FILENAME
static const unsigned int njoint
Number of joint.
static const char *const CONST_VACUUM_CAMERA_NAME
static const std::string CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME
void setToolType(vpAfma6::vpAfma6ToolType tool)
Set the current tool type.
vpAfma6ToolType getToolType() const
Get the current tool type.
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
static const std::string CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME
static const char *const CONST_INTEL_D435_CAMERA_NAME
static const vpAfma6ToolType defaultTool
Default tool attached to the robot end effector.
static const char *const CONST_GRIPPER_CAMERA_NAME
static const std::string CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME
vpAfma6ToolType tool_current
Current tool in use.
static const char *const CONST_GENERIC_CAMERA_NAME
vpCameraParameters::vpCameraParametersProjType projModel
static const std::string CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
static const std::string CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME
static const std::string CONST_AFMA6_FILENAME
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Implementation of a matrix and operations on matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.