67 #include <visp/vpConfig.h>
68 #include <visp/vpDebug.h>
72 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
74 #include <visp/vp1394TwoGrabber.h>
75 #include <visp/vpImage.h>
76 #include <visp/vpImageIo.h>
77 #include <visp/vpDisplay.h>
78 #include <visp/vpDisplayX.h>
80 #include <visp/vpMath.h>
81 #include <visp/vpHomogeneousMatrix.h>
82 #include <visp/vpFeatureLine.h>
83 #include <visp/vpLine.h>
84 #include <visp/vpMeLine.h>
85 #include <visp/vpServo.h>
86 #include <visp/vpFeatureBuilder.h>
88 #include <visp/vpRobotAfma6.h>
91 #include <visp/vpException.h>
92 #include <visp/vpMatrixException.h>
93 #include <visp/vpServoDisplay.h>
109 vpDisplayX display(I,100,100,
"testTwoLines.cpp ") ;
117 std::cout << std::endl ;
118 std::cout <<
"-------------------------------------------------------" << std::endl ;
119 std::cout <<
" Test program for vpServo " <<std::endl ;
120 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
121 std::cout <<
" Simulation " << std::endl ;
122 std::cout <<
" task : servo a point " << std::endl ;
123 std::cout <<
"-------------------------------------------------------" << std::endl ;
124 std::cout << std::endl ;
138 vpTRACE(
"The two lines to track must be parallels ") ;
140 for (i=0 ; i < nbline ; i++)
156 vpTRACE(
"sets the current position of the visual feature ") ;
158 for (i=0 ; i < nbline ; i++)
161 vpTRACE(
"sets the desired position of the visual feature ") ;
173 lined[0].
setRho(-fabs(lined[0].getRho()));
175 lined[1].
setRho(-fabs(lined[1].getRho()));
183 vpTRACE(
"\t we want an eye-in-hand control law") ;
184 vpTRACE(
"\t robot is controlled in the camera frame") ;
187 vpTRACE(
"\t we want to see a point on a point..") ;
188 std::cout << std::endl ;
189 for (i=0 ; i < nbline ; i++)
196 vpTRACE(
"Display task information " ) ;
202 unsigned int iter=0 ;
207 double lambda_av =0.05;
213 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
220 for (i=0 ; i < nbline ; i++)
236 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
240 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
262 vpTRACE(
"Display task information " ) ;
277 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void setPointsToTrack(const int &n)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
void setSampleStep(const double &s)
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
void track(const vpImage< unsigned char > &Im)
Contains predetermined masks for sites and holds moving edges tracking parameters.
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
void kill()
destruction (memory deallocation if required)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
compute the desired control law
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
static void display(const vpImage< unsigned char > &I)
Class that tracks in an image a line moving edges.
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
static double rad(double deg)
void setRho(const double rho)
void setTheta(const double theta)
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 setThreshold(const double &t)
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 setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
Class required to compute the visual servoing control law.
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.