/usr/include/visp/vpViper650.h is in libvisp-dev 2.9.0-3+b2.
This file is owned by root:root, with mode 0o644.
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*
* $Id: vpViper650.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Interface for the ADEPT Viper 650 robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#ifndef vpViper650_h
#define vpViper650_h
/*!
\file vpViper650.h
Modelisation of the ADEPT Viper 650 robot.
*/
/*!
\class vpViper650
\ingroup Viper
\brief Modelisation of the ADEPT Viper 650 robot.
*/
#include <visp/vpViper.h>
class VISP_EXPORT vpViper650: public vpViper
{
public:
#ifdef VISP_HAVE_ACCESS_TO_NAS
//! Files where constant tranformation between end-effector and camera frame
//! are stored.
static const char * const CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME;
static const char * const CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME;
static const char * const CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME;
static const char * const CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME;
static const char * const CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME;
static const char * const CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME;
static const char * const CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME;
static const char * const CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME;
static const char * const CONST_CAMERA_FILENAME;
#endif
/*!
Name of the camera attached to the end-effector.
*/
static const char * const CONST_MARLIN_F033C_CAMERA_NAME;
static const char * const CONST_PTGREY_FLEA2_CAMERA_NAME;
static const char * const CONST_SCHUNK_GRIPPER_CAMERA_NAME;
static const char * const CONST_GENERIC_CAMERA_NAME;
//! List of possible tools that can be attached to the robot end-effector.
typedef enum {
TOOL_MARLIN_F033C_CAMERA, /*!< Marlin F033C camera. */
TOOL_PTGREY_FLEA2_CAMERA, /*!< Point Grey Flea 2 camera. */
TOOL_SCHUNK_GRIPPER_CAMERA, /*!< Camera attached to the Schunk gripper. */
TOOL_GENERIC_CAMERA /*!< A generic camera. */
} vpToolType;
//! Default tool attached to the robot end effector
static const vpToolType defaultTool;
vpViper650();
virtual ~vpViper650() {};
void init (void);
#ifdef VISP_HAVE_ACCESS_TO_NAS
void init(const char *camera_extrinsic_parameters);
#endif
void init (vpViper650::vpToolType tool,
vpCameraParameters::vpCameraParametersProjType projModel =
vpCameraParameters::perspectiveProjWithoutDistortion);
//! Get the current camera model projection type
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const {
return projModel;
};
void getCameraParameters(vpCameraParameters &cam,
const unsigned int &image_width,
const unsigned int &image_height) const;
void getCameraParameters(vpCameraParameters &cam,
const vpImage<unsigned char> &I) const;
void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
//! Get the current tool type
vpToolType getToolType() const{
return tool_current;
};
#ifdef VISP_HAVE_ACCESS_TO_NAS
void parseConfigFile (const char * filename);
#endif
protected:
//! Set the current tool type
void setToolType(vpViper650::vpToolType tool){
tool_current = tool;
};
protected:
//! Current tool in use
vpToolType tool_current;
// Used projection model
vpCameraParameters::vpCameraParametersProjType projModel;
};
#endif
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