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 Afma 6 dof robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39 /*!
40 \example testAfma6.cpp
41
42 Example of a real robot control, the Afma6 robot (cartesian robot, with 6
43 degrees of freedom).
44 */
45
46 #include <visp3/core/vpCameraParameters.h>
47 #include <visp3/core/vpConfig.h>
48 #include <visp3/core/vpDebug.h>
49 #include <visp3/robot/vpAfma6.h>
50
51 #include <iostream>
52
main()53 int main()
54 {
55 try {
56
57 std::cout << "a test for vpAfma6 class..." << std::endl;
58
59 vpAfma6 afma6;
60 vpCameraParameters cam;
61
62 std::cout << "-- Default settings for Afma6 ---" << std::endl;
63 std::cout << afma6 << std::endl;
64 afma6.getCameraParameters(cam, 640, 480);
65 std::cout << cam << std::endl;
66
67 std::cout << "-- Settings associated to the CCMOP tool without distortion ---" << std::endl;
68 afma6.init(vpAfma6::TOOL_CCMOP);
69
70 std::cout << afma6 << std::endl;
71 afma6.getCameraParameters(cam, 640, 480);
72 std::cout << cam << std::endl;
73
74 std::cout << "-- Settings associated to the CCMOP tool with distortion ------" << std::endl;
75 afma6.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithDistortion);
76 std::cout << afma6 << std::endl;
77 afma6.getCameraParameters(cam, 640, 480);
78 std::cout << cam << std::endl;
79
80 std::cout << "-- Settings associated to the gripper tool without distortion ---" << std::endl;
81 afma6.init(vpAfma6::TOOL_GRIPPER);
82
83 std::cout << afma6 << std::endl;
84 afma6.getCameraParameters(cam, 640, 480);
85 std::cout << cam << std::endl;
86
87 std::cout << "-- Settings associated to the gripper tool with distortion ------" << std::endl;
88 afma6.init(vpAfma6::TOOL_GRIPPER, vpCameraParameters::perspectiveProjWithDistortion);
89 std::cout << afma6 << std::endl;
90 afma6.getCameraParameters(cam, 640, 480);
91 std::cout << cam << std::endl;
92
93 return 0;
94 } catch (const vpException &e) {
95 std::cout << "Catch an exception: " << e << std::endl;
96 return 1;
97 }
98 }
99