52 #include <visp/vpConfig.h>
53 #include <visp/vpRobotViper850.h>
54 #include <visp/vpDebug.h>
55 #include <visp/vpCameraParameters.h>
57 #ifdef VISP_HAVE_VIPER850
63 std::cout <<
"a test for vpRobotViper850 class..." << std::endl;
68 std::cout <<
"-- Default settings for Viper850 ---"
70 std::cout << viper850 << std::endl;
72 std::cout << cam << std::endl;
74 std::cout <<
"-- Settings associated to the Marlin F033C camera without distortion ---"
78 std::cout << viper850 << std::endl;
80 std::cout << cam << std::endl;
82 std::cout <<
"-- Settings associated to the Marlin F033C camera with distortion ------"
86 std::cout << viper850 << std::endl;
88 std::cout << cam << std::endl;
91 std::cout <<
"-- Current joint position:" << std::endl;
94 std::cout <<
" " << q.
t() << std::endl;
96 std::cout <<
"-- Current fMe:" << std::endl;
107 std::cout <<
"fMe:" << std::endl
108 <<
"\tt: " << t.
t() << std::endl
124 std::cout <<
"The real Viper850 robot controller is not available." << std::endl;