Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
testRobotAfma6.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 Afma 6 dof robot.
33 *
34*****************************************************************************/
35
43#include <visp3/core/vpCameraParameters.h>
44#include <visp3/core/vpDebug.h>
45#include <visp3/robot/vpRobotAfma6.h>
46
47#include <iostream>
48
49#ifdef VISP_HAVE_AFMA6
50
51int main()
52{
53 try {
54
55 std::cout << "a test for vpRobotAfma6 class..." << std::endl;
56
57 vpRobotAfma6 afma6;
59
60 std::cout << "-- Default settings for Afma6 ---" << std::endl;
61 std::cout << afma6 << std::endl;
62 afma6.getCameraParameters(cam, 640, 480);
63 std::cout << cam << std::endl;
64
65 std::cout << "-- Settings associated to the CCMOP tool without distortion ---" << std::endl;
67
68 std::cout << afma6 << std::endl;
69 afma6.getCameraParameters(cam, 640, 480);
70 std::cout << cam << std::endl;
71
72 std::cout << "-- Settings associated to CCMOP tool with distortion ------" << std::endl;
74 std::cout << afma6 << std::endl;
75 afma6.getCameraParameters(cam, 640, 480);
76 std::cout << cam << std::endl;
77
78 std::cout << "-- Settings associated to the gripper tool without distortion ---" << std::endl;
80
81 std::cout << afma6 << std::endl;
82 afma6.getCameraParameters(cam, 640, 480);
83 std::cout << cam << std::endl;
84
85 std::cout << "-- Settings associated to gripper tool with distortion ------" << std::endl;
87 std::cout << afma6 << std::endl;
88 afma6.getCameraParameters(cam, 640, 480);
89 std::cout << cam << std::endl;
90 return EXIT_SUCCESS;
91 } catch (const vpException &e) {
92 std::cout << "Catch an exception: " << e << std::endl;
93 return EXIT_FAILURE;
94 }
95}
96#else
97int main()
98{
99 std::cout << "The real Afma6 robot controller is not available." << std::endl;
100 return EXIT_SUCCESS;
101}
102
103#endif
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition vpAfma6.cpp:1255
@ TOOL_CCMOP
Definition vpAfma6.h:124
@ TOOL_GRIPPER
Definition vpAfma6.h:125
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
error that can be emitted by ViSP classes.
Definition vpException.h:59
Control of Irisa's gantry robot named Afma6.
void init(void)