vpViper650.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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.
 */

 
#ifndef vpViper650_h
#define vpViper650_h
 
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpViper.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpViper650 : public vpViper
{
public:
#ifdef VISP_HAVE_VIPER650_DATA
  static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME;
  static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME;
  static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME;
  static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME;
  static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME;
  static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME;
  static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME;
  static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME;
  static const std::string CONST_CAMERA_FILENAME;
#endif
  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;

  typedef enum
  {
    TOOL_MARLIN_F033C_CAMERA,   
    TOOL_PTGREY_FLEA2_CAMERA,   
    TOOL_SCHUNK_GRIPPER_CAMERA, 
    TOOL_GENERIC_CAMERA,        
    TOOL_CUSTOM                 
  } vpToolType;

  static const vpToolType defaultTool;
 
  vpViper650();

  void init(void);
  void init(const std::string &camera_extrinsic_parameters);
  void
    init(vpViper650::vpToolType tool,
         vpCameraParameters::vpCameraParametersProjType projModel = vpCameraParameters::perspectiveProjWithoutDistortion);
  void init(vpViper650::vpToolType tool, const std::string &filename);
  void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);

  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;

  vpToolType getToolType() const { return tool_current; }
 
  void parseConfigFile(const std::string &filename);
 
protected:

  void setToolType(vpViper650::vpToolType tool) { tool_current = tool; }
 
protected:
  vpToolType tool_current;
  // Used projection model
  vpCameraParameters::vpCameraParametersProjType projModel;
};
END_VISP_NAMESPACE
#endif