47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDebug.h>
50 #include <visp3/robot/vpRobotViper850.h>
51 #ifdef VISP_HAVE_VIPER850
57 std::cout <<
"a test for vpRobotViper850 class..." << std::endl;
62 std::cout <<
"-- Default settings for Viper850 ---" << std::endl;
63 std::cout << viper850 << std::endl;
65 std::cout << cam << std::endl;
67 std::cout <<
"-- Settings associated to the Marlin F033C camera without "
72 std::cout << viper850 << std::endl;
74 std::cout << cam << std::endl;
76 std::cout <<
"-- Settings associated to the Marlin F033C camera with "
80 std::cout << viper850 << std::endl;
82 std::cout << cam << std::endl;
84 std::cout <<
"-- Current joint position:" << std::endl;
87 std::cout <<
" " << q.
t() << std::endl;
89 std::cout <<
"-- Current fMe:" << std::endl;
100 std::cout <<
"fMe:" << std::endl
101 <<
"\tt: " << t.
t() << std::endl
106 std::cout <<
"Catch an exception: " << e << std::endl;
113 std::cout <<
"The real Viper850 robot controller is not available." << std::endl;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double deg(double rad)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
@ TOOL_MARLIN_F033C_CAMERA
void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const