63 #include <visp/vpConfig.h>
64 #include <visp/vpDebug.h>
68 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
70 #include <visp/vp1394TwoGrabber.h>
71 #include <visp/vpImage.h>
72 #include <visp/vpImageIo.h>
73 #include <visp/vpDisplay.h>
74 #include <visp/vpDisplayX.h>
76 #include <visp/vpMath.h>
77 #include <visp/vpHomogeneousMatrix.h>
78 #include <visp/vpFeatureLine.h>
79 #include <visp/vpMeLine.h>
80 #include <visp/vpCylinder.h>
81 #include <visp/vpServo.h>
82 #include <visp/vpFeatureBuilder.h>
84 #include <visp/vpRobotAfma6.h>
87 #include <visp/vpException.h>
88 #include <visp/vpMatrixException.h>
89 #include <visp/vpServoDisplay.h>
106 vpDisplayX display(I,100,100,
"testDisplayX.cpp ") ;
114 std::cout << std::endl ;
115 std::cout <<
"-------------------------------------------------------" << std::endl ;
116 std::cout <<
" Test program for vpServo " <<std::endl ;
117 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
118 std::cout <<
" Simulation " << std::endl ;
119 std::cout <<
" task : servo a point " << std::endl ;
120 std::cout <<
"-------------------------------------------------------" << std::endl ;
121 std::cout << std::endl ;
135 for (i=0 ; i < nbline ; i++)
151 vpTRACE(
"sets the current position of the visual feature ") ;
153 for (i=0 ; i < nbline ; i++)
156 vpTRACE(
"sets the desired position of the visual feature ") ;
173 vpTRACE(
"\t we want an eye-in-hand control law") ;
174 vpTRACE(
"\t robot is controlled in the camera frame") ;
178 vpTRACE(
"\t we want to see a point on a point..") ;
179 std::cout << std::endl ;
180 for (i=0 ; i < nbline ; i++)
187 vpTRACE(
"Display task information " ) ;
193 unsigned int iter=0 ;
197 double lambda_av =0.05;
204 while(erreur > 0.00001)
206 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
213 for (i=0 ; i < nbline ; i++)
229 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
233 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
251 erreur = ( task.
getError() ).sumSquare();
265 double vitesse = 0.02;
270 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
277 for (i=0 ; i < nbline ; i++)
293 if ( iter%tempo < 400 /*&& iter%tempo >= 0*/)
296 e1[0] = fabs(vitesse) ;
298 rapport = vitesse/proj_e1[0];
301 if ( iter == 199 ) iter+=200;
304 if ( iter%tempo < 600 && iter%tempo >= 400)
307 e2[1] = fabs(vitesse) ;
309 rapport = vitesse/proj_e2[1];
314 if ( iter%tempo < 1000 && iter%tempo >= 600)
317 e1[0] = -fabs(vitesse) ;
319 rapport = -vitesse/proj_e1[0];
324 if ( iter%tempo < 1200 && iter%tempo >= 1000)
327 e2[1] = -fabs(vitesse) ;
329 rapport = -vitesse/proj_e2[1];
349 vpTRACE(
"Display task information " ) ;
364 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 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.
vpColVector secondaryTask(vpColVector &de2dt)
Add a secondary task.
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)
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)
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 defines what is a cylinder.
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.
void setRhoTheta(const double rho, const double theta)