68 #include <visp/vpConfig.h>
69 #include <visp/vpDebug.h>
75 #if (defined (VISP_HAVE_AFMA4) && defined (VISP_HAVE_DC1394_2))
77 #include <visp/vp1394TwoGrabber.h>
78 #include <visp/vpImage.h>
79 #include <visp/vpImagePoint.h>
80 #include <visp/vpDisplay.h>
81 #include <visp/vpDisplayX.h>
82 #include <visp/vpDisplayOpenCV.h>
83 #include <visp/vpDisplayGTK.h>
85 #include <visp/vpMath.h>
86 #include <visp/vpHomogeneousMatrix.h>
87 #include <visp/vpFeaturePoint.h>
88 #include <visp/vpPoint.h>
89 #include <visp/vpServo.h>
90 #include <visp/vpFeatureBuilder.h>
91 #include <visp/vpRobotAfma4.h>
92 #include <visp/vpIoTools.h>
95 #include <visp/vpException.h>
96 #include <visp/vpMatrixException.h>
97 #include <visp/vpServoDisplay.h>
99 #include <visp/vpDot.h>
111 std::string username;
116 std::string logdirname;
117 logdirname =
"/tmp/" + username;
126 std::cerr << std::endl
127 <<
"ERROR:" << std::endl;
128 std::cerr <<
" Cannot create " << logdirname << std::endl;
132 std::string logfilename;
133 logfilename = logdirname +
"/log.dat";
136 std::ofstream flog(logfilename.c_str());
153 vpDisplayX display(I,100,100,
"Current image") ;
154 #elif defined(VISP_HAVE_OPENCV)
156 #elif defined(VISP_HAVE_GTK)
164 std::cout << std::endl ;
165 std::cout <<
"-------------------------------------------------------" << std::endl ;
166 std::cout <<
" Test program for vpServo " <<std::endl ;
167 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
168 std::cout <<
" Use of the Afma4 robot " << std::endl ;
169 std::cout <<
" task : servo a point " << std::endl ;
170 std::cout <<
"-------------------------------------------------------" << std::endl ;
171 std::cout << std::endl ;
176 std::cout <<
"Click on a dot..." << std::endl;
188 vpTRACE(
"sets the current position of the visual feature ") ;
193 vpTRACE(
"sets the desired position of the visual feature ") ;
198 vpTRACE(
"\t we want an eye-in-hand control law") ;
199 vpTRACE(
"\t articular velocity are computed") ;
204 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
210 std::cout << cVe <<std::endl ;
214 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
220 vpTRACE(
"\t we want to see a point on a point..") ;
221 std::cout << std::endl ;
227 vpTRACE(
"Display task information " ) ;
232 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
275 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
276 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
286 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
287 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
297 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
298 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
303 flog << task.
getError() << std::endl;
311 vpTRACE(
"Display task information " ) ;
317 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
327 vpERROR_TRACE(
"You do not have an afma4 robot or a firewire framegrabber connected to your computer...");
Definition of the vpMatrix class.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void track(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void open(vpImage< unsigned char > &I)
vpImagePoint getCog() const
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
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.
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)
void buildFrom(const double x, const double y, const double Z)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void setFramerate(vp1394TwoFramerateType fps)
Control of Irisa's cylindrical robot named Afma4.
void setVideoMode(vp1394TwoVideoModeType videomode)
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.
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)
void setServo(const vpServoType &servo_type)
void initTracking(const vpImage< unsigned char > &I)
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
static const vpColor blue