69 #include <visp/vpConfig.h>
70 #include <visp/vpDebug.h>
72 #if (defined (VISP_HAVE_AFMA4) && defined (VISP_HAVE_DC1394_2))
74 #include <visp/vp1394TwoGrabber.h>
75 #include <visp/vpImage.h>
76 #include <visp/vpImagePoint.h>
77 #include <visp/vpDisplay.h>
78 #include <visp/vpDisplayX.h>
79 #include <visp/vpDisplayOpenCV.h>
80 #include <visp/vpDisplayGTK.h>
82 #include <visp/vpMath.h>
83 #include <visp/vpHomogeneousMatrix.h>
84 #include <visp/vpFeaturePoint.h>
85 #include <visp/vpPoint.h>
86 #include <visp/vpServo.h>
87 #include <visp/vpFeatureBuilder.h>
88 #include <visp/vpRobotAfma4.h>
89 #include <visp/vpIoTools.h>
92 #include <visp/vpException.h>
93 #include <visp/vpMatrixException.h>
94 #include <visp/vpServoDisplay.h>
96 #include <visp/vpDot.h>
107 std::string username;
112 std::string logdirname;
113 logdirname =
"/tmp/" + username;
122 std::cerr << std::endl
123 <<
"ERROR:" << std::endl;
124 std::cerr <<
" Cannot create " << logdirname << std::endl;
128 std::string logfilename;
129 logfilename = logdirname +
"/log.dat";
132 std::ofstream flog(logfilename.c_str());
150 vpDisplayX display(I,100,100,
"Current image") ;
151 #elif defined(VISP_HAVE_OPENCV)
153 #elif defined(VISP_HAVE_GTK)
160 std::cout << std::endl ;
161 std::cout <<
"-------------------------------------------------------" << std::endl ;
162 std::cout <<
" Test program for vpServo " <<std::endl ;
163 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
164 std::cout <<
" Simulation " << std::endl ;
165 std::cout <<
" task : servo a point " << std::endl ;
166 std::cout <<
"-------------------------------------------------------" << std::endl ;
167 std::cout << std::endl ;
171 std::cout <<
"Click on a dot..." << std::endl;
183 vpTRACE(
"sets the current position of the visual feature ") ;
187 vpTRACE(
"sets the desired position of the visual feature ") ;
192 vpTRACE(
"\t we want an eye-in-hand control law") ;
193 vpTRACE(
"\t robot is controlled in the camera frame") ;
196 vpTRACE(
"\t we want to see a point on a point..") ;
197 std::cout << std::endl ;
204 vpTRACE(
"Display task information " ) ;
210 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
243 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
244 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
254 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
255 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
265 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
266 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
271 flog << task.
getError() << std::endl;
301 vpERROR_TRACE(
"You do not have an afma4 robot or a firewire framegrabber connected to your computer...");
static void display(vpServo &s, const vpCameraParameters &cam, vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
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
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void buildFrom(const double x, const double y, const double Z)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Control of Irisa's cylindrical robot named Afma4.
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connected 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 descbribed in and .
void initTracking(const vpImage< unsigned char > &I)
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
static const vpColor blue