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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test for Viper850 6 dof robot.
*/
/*!
\example testViper850.cpp
Example of a real robot control, the Viper robot (arm robot, with 6
degrees of freedom).
*/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/robot/vpViper850.h>
#include <iostream>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
std::cout << "a test for vpViper850 class..." << std::endl;
vpViper850 viper850;
vpCameraParameters cam;
std::cout << "-- Default settings for Viper 850 ---" << std::endl;
std::cout << viper850 << std::endl;
viper850.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the Marlin F033C camera without "
"distortion ---"
<< std::endl;
viper850.init(vpViper850::TOOL_MARLIN_F033C_CAMERA);
std::cout << viper850 << std::endl;
viper850.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
std::cout << "-- Settings associated to the Marlin F033C camera with "
"distortion ------"
<< std::endl;
viper850.init(vpViper850::TOOL_MARLIN_F033C_CAMERA, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << viper850 << std::endl;
viper850.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
vpColVector qmotor(6);
#if 1
qmotor[0] = vpMath::rad(30);
qmotor[1] = vpMath::rad(-100);
qmotor[2] = vpMath::rad(180);
qmotor[3] = vpMath::rad(20);
qmotor[4] = vpMath::rad(90);
qmotor[5] = vpMath::rad(13.37);
#else
qmotor[0] = vpMath::rad(0);
qmotor[1] = vpMath::rad(0 - 90);
qmotor[2] = vpMath::rad(0);
qmotor[3] = vpMath::rad(0);
qmotor[4] = vpMath::rad(0);
qmotor[5] = vpMath::rad(0);
#endif
vpHomogeneousMatrix fMe;
viper850.get_fMe(qmotor, fMe);
vpTranslationVector t;
fMe.extract(t);
vpRotationMatrix R;
fMe.extract(R);
vpRzyzVector r;
r.buildFrom(R);
std::cout << "fMe:" << std::endl
<< "\tt: " << t.t() << std::endl
<< "\trzyz (rad): " << r.t() << std::endl
<< "\trzyz (deg): " << vpMath::deg(r[0]) << " " << vpMath::deg(r[1]) << " " << vpMath::deg(r[2])
<< std::endl;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
return EXIT_FAILURE;
}
}
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