54 #include <visp/vpConfig.h>
55 #include <visp/vpDebug.h>
63 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
65 #include <visp/vp1394TwoGrabber.h>
66 #include <visp/vpImage.h>
67 #include <visp/vpDisplay.h>
68 #include <visp/vpDisplayX.h>
70 #include <visp/vpMath.h>
71 #include <visp/vpHomogeneousMatrix.h>
72 #include <visp/vpFeaturePoint.h>
73 #include <visp/vpPoint.h>
74 #include <visp/vpServo.h>
75 #include <visp/vpFeatureBuilder.h>
76 #include <visp/vpRobotViper850.h>
77 #include <visp/vpIoTools.h>
80 #include <visp/vpException.h>
81 #include <visp/vpMatrixException.h>
82 #include <visp/vpServoDisplay.h>
84 #include <visp/vpDot2.h>
100 std::string logdirname;
101 logdirname =
"/tmp/" + username;
110 std::cerr << std::endl
111 <<
"ERROR:" << std::endl;
112 std::cerr <<
" Cannot create " << logdirname << std::endl;
116 std::string logfilename;
117 logfilename = logdirname +
"/log.dat";
120 std::ofstream flog(logfilename.c_str());
137 vpDisplayX display(I, 800, 100,
"Camera view") ;
144 std::cout << std::endl ;
145 std::cout <<
"-------------------------------------------------------" << std::endl ;
146 std::cout <<
" Test program for vpServo " <<std::endl ;
147 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
148 std::cout <<
" Use of the Afma6 robot " << std::endl ;
149 std::cout <<
" task : servo a point " << std::endl ;
150 std::cout <<
"-------------------------------------------------------" << std::endl ;
151 std::cout << std::endl ;
156 std::cout <<
"Click on a dot..." << std::endl;
166 vpTRACE(
"sets the current position of the visual feature ") ;
171 vpTRACE(
"sets the desired position of the visual feature ") ;
176 vpTRACE(
"\t we want an eye-in-hand control law") ;
177 vpTRACE(
"\t articular velocity are computed") ;
182 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
188 std::cout << cVe <<std::endl ;
192 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
198 vpTRACE(
"\t we want to see a point on a point..") ;
199 std::cout << std::endl ;
205 vpTRACE(
"Display task information " ) ;
210 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
251 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
252 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
262 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
263 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
273 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
274 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
279 flog << ( task.
getError() ).t() << std::endl;
288 vpTRACE(
"Display task information " ) ;
306 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Definition of the vpMatrix class.
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...
Control of Irisa's Viper S850 robot named Viper850.
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
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
void set_cVe(vpVelocityTwistMatrix &_cVe)
static void flush(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
void kill()
destruction (memory deallocation if required)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
compute the desired control law
static void display(const vpImage< unsigned char > &I)
void set_eJe(vpMatrix &_eJe)
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
void get_cVe(vpVelocityTwistMatrix &cVe)
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 for firewire ieee1394 video devices using libdc1394-2.x api.
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)
Class required to compute the visual servoing control law.
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
static const vpColor blue