54 #include <visp/vpConfig.h>
55 #include <visp/vpDebug.h>
62 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
64 #include <visp/vp1394TwoGrabber.h>
65 #include <visp/vpImage.h>
66 #include <visp/vpDisplay.h>
67 #include <visp/vpDisplayX.h>
68 #include <visp/vpMath.h>
69 #include <visp/vpHomogeneousMatrix.h>
70 #include <visp/vpFeaturePoint.h>
71 #include <visp/vpPoint.h>
72 #include <visp/vpServo.h>
73 #include <visp/vpFeatureBuilder.h>
74 #include <visp/vpIoTools.h>
75 #include <visp/vpRobotViper850.h>
78 #include <visp/vpException.h>
79 #include <visp/vpMatrixException.h>
80 #include <visp/vpServoDisplay.h>
82 #include <visp/vpDot.h>
98 std::string logdirname;
99 logdirname =
"/tmp/" + username;
108 std::cerr << std::endl
109 <<
"ERROR:" << std::endl;
110 std::cerr <<
" Cannot create " << logdirname << std::endl;
114 std::string logfilename;
115 logfilename = logdirname +
"/log.dat";
118 std::ofstream flog(logfilename.c_str());
149 vpDisplayX display(I, 100, 100,
"Camera view ") ;
155 std::cout << std::endl ;
156 std::cout <<
"-------------------------------------------------------" << std::endl ;
157 std::cout <<
" Test program for vpServo " <<std::endl ;
158 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
159 std::cout <<
" Use of the Afma6 robot " << std::endl ;
160 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
161 std::cout <<
"-------------------------------------------------------" << std::endl ;
162 std::cout << std::endl ;
168 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
171 for (i=0 ; i < 4 ; i++) {
187 for (i=0 ; i < 4 ; i++)
199 std::cout << std::endl ;
200 for (i=0 ; i < 4 ; i++)
230 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
240 for (i=0 ; i < 4 ; i++) {
251 vpTRACE(
"Error detected while tracking visual features") ;
257 for (i=0 ; i < 4 ; i++)
280 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
281 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
291 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
292 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
302 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
303 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
308 flog << ( task.
getError() ).t() << std::endl;
316 vpTRACE(
"Display task information " ) ;
334 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)
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
void track(const vpImage< unsigned char > &I)
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
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
vpCameraParametersProjType
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...
Perspective projection with distortion model.
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 print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connex pixels with same gray level) on a vpImage.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
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 initTracking(const vpImage< unsigned char > &I)
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
static const vpColor blue