Visual Servoing Platform version 3.6.0
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vpViper650.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 * Interface for the ADEPT Viper 650 robot.
33 *
34*****************************************************************************/
35
36#ifndef vpViper650_h
37#define vpViper650_h
38
97#include <visp3/robot/vpViper.h>
98
99class VISP_EXPORT vpViper650 : public vpViper
100{
101public:
102#ifdef VISP_HAVE_VIPER650_DATA
113 static const std::string CONST_CAMERA_FILENAME;
114#endif
118 static const char *const CONST_MARLIN_F033C_CAMERA_NAME;
119 static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME;
120 static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
121 static const char *const CONST_GENERIC_CAMERA_NAME;
122
131
134
135 vpViper650();
136 virtual ~vpViper650(){};
137
140 void init(void);
141 void init(const std::string &camera_extrinsic_parameters);
142 void
143 init(vpViper650::vpToolType tool,
145 void init(vpViper650::vpToolType tool, const std::string &filename);
146 void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
147
150
151 void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
152 const unsigned int &image_height) const;
153 void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
154 void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
155
157 vpToolType getToolType() const { return tool_current; };
158
159 void parseConfigFile(const std::string &filename);
161
162protected:
166 void setToolType(vpViper650::vpToolType tool) { tool_current = tool; };
168
169protected:
172 // Used projection model
174};
175
176#endif
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Modelisation of the ADEPT Viper 650 robot.
Definition vpViper650.h:100
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition vpViper650.h:111
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition vpViper650.h:119
vpCameraParameters::vpCameraParametersProjType projModel
Definition vpViper650.h:173
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition vpViper650.h:109
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition vpViper650.h:133
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition vpViper650.h:110
vpToolType getToolType() const
Get the current tool type.
Definition vpViper650.h:157
vpToolType tool_current
Current tool in use.
Definition vpViper650.h:171
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition vpViper650.h:112
static const char *const CONST_GENERIC_CAMERA_NAME
Definition vpViper650.h:121
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition vpViper650.h:106
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition vpViper650.h:149
void setToolType(vpViper650::vpToolType tool)
Set the current tool type.
Definition vpViper650.h:166
virtual ~vpViper650()
Definition vpViper650.h:136
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition vpViper650.h:124
@ TOOL_MARLIN_F033C_CAMERA
Definition vpViper650.h:125
@ TOOL_SCHUNK_GRIPPER_CAMERA
Definition vpViper650.h:127
@ TOOL_GENERIC_CAMERA
Definition vpViper650.h:128
@ TOOL_PTGREY_FLEA2_CAMERA
Definition vpViper650.h:126
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition vpViper650.h:118
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition vpViper650.h:107
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition vpViper650.h:108
static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
Definition vpViper650.h:105
static const std::string CONST_CAMERA_FILENAME
Definition vpViper650.h:113
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition vpViper650.h:120
Modelisation of the ADEPT Viper robot.
Definition vpViper.h:111