Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpViper850.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 850 robot.
33 *
34*****************************************************************************/
35
36#ifndef vpViper850_h
37#define vpViper850_h
38
97#include <visp3/core/vpConfig.h>
98#include <visp3/robot/vpViper.h>
99
100class VISP_EXPORT vpViper850 : public vpViper
101{
102public:
103#ifdef VISP_HAVE_VIPER850_DATA
114 static const std::string CONST_CAMERA_FILENAME;
115#endif
119 static const char *const CONST_MARLIN_F033C_CAMERA_NAME;
120 static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME;
121 static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
122 static const char *const CONST_GENERIC_CAMERA_NAME;
123
132
135
136 vpViper850();
137 virtual ~vpViper850(){};
138
141 void init(void);
142 void init(const std::string &camera_extrinsic_parameters);
143 void
144 init(vpViper850::vpToolType tool,
146 void init(vpViper850::vpToolType tool, const std::string &filename);
147 void init(vpViper850::vpToolType tool, const vpHomogeneousMatrix &eMc_);
148
151
152 void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
153 const unsigned int &image_height) const;
154 void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
155 void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
156
158 vpToolType getToolType() const { return tool_current; };
159
160 void parseConfigFile(const std::string &filename);
162
163protected:
167 void setToolType(vpViper850::vpToolType tool) { tool_current = tool; };
169
170protected:
173 // Used projection model
175};
176
177#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 850 robot.
Definition vpViper850.h:101
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition vpViper850.h:120
void setToolType(vpViper850::vpToolType tool)
Set the current tool type.
Definition vpViper850.h:167
static const std::string CONST_CAMERA_FILENAME
Definition vpViper850.h:114
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition vpViper850.h:134
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition vpViper850.h:121
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition vpViper850.h:113
virtual ~vpViper850()
Definition vpViper850.h:137
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition vpViper850.h:110
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition vpViper850.h:111
static const char *const CONST_GENERIC_CAMERA_NAME
Definition vpViper850.h:122
vpToolType tool_current
Current tool in use.
Definition vpViper850.h:172
vpCameraParameters::vpCameraParametersProjType projModel
Definition vpViper850.h:174
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition vpViper850.h:107
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition vpViper850.h:108
vpToolType getToolType() const
Get the current tool type.
Definition vpViper850.h:158
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition vpViper850.h:150
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition vpViper850.h:125
@ TOOL_SCHUNK_GRIPPER_CAMERA
Definition vpViper850.h:128
@ TOOL_PTGREY_FLEA2_CAMERA
Definition vpViper850.h:127
@ TOOL_MARLIN_F033C_CAMERA
Definition vpViper850.h:126
@ TOOL_GENERIC_CAMERA
Definition vpViper850.h:129
static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
Definition vpViper850.h:106
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition vpViper850.h:119
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition vpViper850.h:109
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition vpViper850.h:112
Modelisation of the ADEPT Viper robot.
Definition vpViper.h:111