Visual Servoing Platform version 3.5.0
testRobotAfma6.cpp
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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
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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 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
46#include <visp3/core/vpCameraParameters.h>
47#include <visp3/core/vpDebug.h>
48#include <visp3/robot/vpRobotAfma6.h>
49
50#include <iostream>
51
52#ifdef VISP_HAVE_AFMA6
53
54int main()
55{
56 try {
57
58 std::cout << "a test for vpRobotAfma6 class..." << std::endl;
59
60 vpRobotAfma6 afma6;
62
63 std::cout << "-- Default settings for Afma6 ---" << std::endl;
64 std::cout << afma6 << std::endl;
65 afma6.getCameraParameters(cam, 640, 480);
66 std::cout << cam << std::endl;
67
68 std::cout << "-- Settings associated to the CCMOP tool without distortion ---" << std::endl;
70
71 std::cout << afma6 << std::endl;
72 afma6.getCameraParameters(cam, 640, 480);
73 std::cout << cam << std::endl;
74
75 std::cout << "-- Settings associated to CCMOP tool with distortion ------" << std::endl;
77 std::cout << afma6 << std::endl;
78 afma6.getCameraParameters(cam, 640, 480);
79 std::cout << cam << std::endl;
80
81 std::cout << "-- Settings associated to the gripper tool without distortion ---" << std::endl;
83
84 std::cout << afma6 << std::endl;
85 afma6.getCameraParameters(cam, 640, 480);
86 std::cout << cam << std::endl;
87
88 std::cout << "-- Settings associated to gripper tool with distortion ------" << std::endl;
90 std::cout << afma6 << std::endl;
91 afma6.getCameraParameters(cam, 640, 480);
92 std::cout << cam << std::endl;
93 } catch (const vpException &e) {
94 std::cout << "Catch an exception: " << e << std::endl;
95 }
96 return 0;
97}
98#else
99int main()
100{
101 std::cout << "The real Afma6 robot controller is not available." << std::endl;
102 return 0;
103}
104
105#endif
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpAfma6.cpp:1256
@ TOOL_CCMOP
Definition: vpAfma6.h:127
@ TOOL_GRIPPER
Definition: vpAfma6.h:128
Generic class defining intrinsic camera parameters.
error that can be emited by ViSP classes.
Definition: vpException.h:72
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void init(void)