48 #include <visp3/core/vpConfig.h> 49 #include <visp3/robot/vpRobotViper850.h> 50 #include <visp3/core/vpDebug.h> 51 #include <visp3/core/vpCameraParameters.h> 53 #ifdef VISP_HAVE_VIPER850 59 std::cout <<
"a test for vpRobotViper850 class..." << std::endl;
64 std::cout <<
"-- Default settings for Viper850 ---" 66 std::cout << viper850 << std::endl;
68 std::cout << cam << std::endl;
70 std::cout <<
"-- Settings associated to the Marlin F033C camera without distortion ---" 74 std::cout << viper850 << std::endl;
76 std::cout << cam << std::endl;
78 std::cout <<
"-- Settings associated to the Marlin F033C camera with distortion ------" 82 std::cout << viper850 << std::endl;
84 std::cout << cam << std::endl;
87 std::cout <<
"-- Current joint position:" << std::endl;
90 std::cout <<
" " << q.
t() << std::endl;
92 std::cout <<
"-- Current fMe:" << std::endl;
103 std::cout <<
"fMe:" << std::endl
104 <<
"\tt: " << t.
t() << std::endl
111 std::cout <<
"Catch an exception: " << e << std::endl;
118 std::cout <<
"The real Viper850 robot controller is not available." << std::endl;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Control of Irisa's Viper S850 robot named Viper850.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
error that can be emited by ViSP classes.
void extract(vpRotationMatrix &R) const
Implementation of a rotation matrix and operations on such kind of matrices.
Generic class defining intrinsic camera parameters.
Perspective projection with distortion model.
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const
static double deg(double rad)
Implementation of column vector and the associated operations.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.