70 #include <visp/vpConfig.h>
71 #include <visp/vpDebug.h>
73 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
75 #include <visp/vp1394TwoGrabber.h>
76 #include <visp/vpImage.h>
77 #include <visp/vpImagePoint.h>
78 #include <visp/vpDisplay.h>
79 #include <visp/vpDisplayX.h>
81 #include <visp/vpMath.h>
82 #include <visp/vpTranslationVector.h>
83 #include <visp/vpRxyzVector.h>
84 #include <visp/vpRotationMatrix.h>
85 #include <visp/vpHomogeneousMatrix.h>
86 #include <visp/vpFeaturePoint.h>
87 #include <visp/vpPoint.h>
88 #include <visp/vpServo.h>
89 #include <visp/vpFeatureBuilder.h>
90 #include <visp/vpDot.h>
91 #include <visp/vpRobotAfma6.h>
92 #include <visp/vpServoDisplay.h>
93 #include <visp/vpIoTools.h>
96 #include <visp/vpException.h>
97 #include <visp/vpMatrixException.h>
99 #define L 0.05 // to deal with a 10cm by 10cm square
110 std::string username;
115 std::string logdirname;
116 logdirname =
"/tmp/" + username;
125 std::cerr << std::endl
126 <<
"ERROR:" << std::endl;
127 std::cerr <<
" Cannot create " << logdirname << std::endl;
131 std::string logfilename;
132 logfilename = logdirname +
"/log.dat";
135 std::ofstream flog(logfilename.c_str());
149 vpDisplayX display(I,100,100,
"Current image") ;
156 std::cout << std::endl ;
157 std::cout <<
"-------------------------------------------------------" << std::endl ;
158 std::cout <<
" Test program for vpServo " <<std::endl ;
159 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
160 std::cout <<
" Use of the Afma6 robot " << std::endl ;
161 std::cout <<
" Interaction matrix computed with the desired features " << std::endl ;
163 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
164 std::cout <<
"-------------------------------------------------------" << std::endl ;
165 std::cout << std::endl ;
171 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
173 for (i=0 ; i < 4 ; i++) {
195 for (i=0 ; i < 4 ; i++)
216 for (
int i=0; i < 4; i ++) {
234 std::cout << std::endl ;
235 for (i=0 ; i < 4 ; i++)
247 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
257 for (i=0 ; i < 4 ; i++) {
271 for (i=0 ; i < 4 ; i++)
287 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
288 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
298 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
299 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
309 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
310 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
315 flog << ( task.
getError() ).t() << std::endl;
342 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void projection(const vpColVector &_cP, vpColVector &_p)
Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP...
static void display(vpServo &s, const vpCameraParameters &cam, vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
void setLambda(double _lambda)
set the gain lambda
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void set_y(const double y)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
The vpRotationMatrix considers the particular case of a rotation matrix.
vpImagePoint getCog() const
void set_x(const double x)
void open(vpImage< unsigned char > &I)
void kill()
destruction (memory deallocation if required)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
compute the desired control law
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Perspective projection with distortion model.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Construction from translation vector and rotation matrix.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
static double rad(double deg)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
Class required to compute the visual servoing control law.
Class that consider the case of a translation vector.
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
static const vpColor blue
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...