72 #include <visp3/core/vpCameraParameters.h>
73 #include <visp3/core/vpHomogeneousMatrix.h>
74 #include <visp3/core/vpImage.h>
75 #include <visp3/core/vpRGBa.h>
76 #include <visp3/core/vpVelocityTwistMatrix.h>
81 #ifdef VISP_HAVE_AFMA6_DATA
82 static const std::string CONST_AFMA6_FILENAME;
86 static const std::string CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME;
87 static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME;
88 static const std::string CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME;
89 static const std::string CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME;
90 static const std::string CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME;
91 static const std::string CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME;
92 static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME;
93 static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME;
94 static const std::string CONST_CAMERA_AFMA6_FILENAME;
100 static const char *
const CONST_CCMOP_CAMERA_NAME;
105 static const char *
const CONST_GRIPPER_CAMERA_NAME;
110 static const char *
const CONST_VACUUM_CAMERA_NAME;
115 static const char *
const CONST_GENERIC_CAMERA_NAME;
127 static const vpAfma6ToolType defaultTool;
137 void init(
const std::string &camera_extrinsic_parameters);
138 void init(
const std::string &camera_extrinsic_parameters,
const std::string &camera_intrinsic_parameters);
147 const bool &verbose =
false)
const;
160 vpAfma6ToolType getToolType()
const {
return tool_current; };
165 const unsigned int &image_height)
const;
171 double getCoupl56()
const;
172 double getLong56()
const;
174 void parseConfigFile(
const std::string &filename);
179 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpAfma6 &afma6);
189 static const unsigned int njoint;
194 double _joint_max[6];
195 double _joint_min[6];