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vpViper650.h
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/****************************************************************************
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*
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* $Id: vpViper650.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Interface for the ADEPT Viper 650 robot.
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*
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* Authors:
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* Fabien Spindler
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*
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*****************************************************************************/
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#ifndef vpViper650_h
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#define vpViper650_h
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#include <visp/vpViper.h>
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class
VISP_EXPORT
vpViper650
:
public
vpViper
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{
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public
:
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#ifdef VISP_HAVE_ACCESS_TO_NAS
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static
const
char
*
const
CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
;
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static
const
char
*
const
CONST_CAMERA_FILENAME
;
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#endif
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static
const
char
*
const
CONST_MARLIN_F033C_CAMERA_NAME
;
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static
const
char
*
const
CONST_PTGREY_FLEA2_CAMERA_NAME
;
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static
const
char
*
const
CONST_SCHUNK_GRIPPER_CAMERA_NAME
;
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static
const
char
*
const
CONST_GENERIC_CAMERA_NAME
;
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typedef
enum
{
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TOOL_MARLIN_F033C_CAMERA
,
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TOOL_PTGREY_FLEA2_CAMERA
,
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TOOL_SCHUNK_GRIPPER_CAMERA
,
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TOOL_GENERIC_CAMERA
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} vpToolType;
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static
const
vpToolType
defaultTool
;
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vpViper650
();
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virtual
~vpViper650
() {};
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void
init (
void
);
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#ifdef VISP_HAVE_ACCESS_TO_NAS
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void
init(
const
char
*camera_extrinsic_parameters);
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#endif
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void
init (
vpViper650::vpToolType
tool,
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vpCameraParameters::vpCameraParametersProjType
projModel =
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vpCameraParameters::perspectiveProjWithoutDistortion
);
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vpCameraParameters::vpCameraParametersProjType
getCameraParametersProjType
(){
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return
projModel;
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};
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void
getCameraParameters(
vpCameraParameters
&cam,
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const
unsigned
int
&image_width,
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const
unsigned
int
&image_height);
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void
getCameraParameters(
vpCameraParameters
&cam,
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const
vpImage<unsigned char>
&I);
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void
getCameraParameters(
vpCameraParameters
&cam,
const
vpImage<vpRGBa>
&I);
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vpToolType
getToolType
(){
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return
tool_current;
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};
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#ifdef VISP_HAVE_ACCESS_TO_NAS
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void
parseConfigFile (
const
char
* filename);
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#endif
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protected
:
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void
setToolType
(
vpViper650::vpToolType
tool){
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tool_current = tool;
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};
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protected
:
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vpToolType tool_current;
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// Used projection model
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vpCameraParameters::vpCameraParametersProjType
projModel
;
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};
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#endif
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src
robot
real-robot
viper
vpViper650.h
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