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>
75 #include <visp/vpDisplayOpenCV.h>
76 #include <visp/vpDisplayGTK.h>
78 #include <visp/vpMath.h>
79 #include <visp/vpHomogeneousMatrix.h>
80 #include <visp/vpFeatureLine.h>
81 #include <visp/vpMeLine.h>
82 #include <visp/vpCylinder.h>
83 #include <visp/vpServo.h>
84 #include <visp/vpFeatureBuilder.h>
86 #include <visp/vpRobotAfma6.h>
89 #include <visp/vpException.h>
90 #include <visp/vpMatrixException.h>
91 #include <visp/vpServoDisplay.h>
109 vpDisplayX display(I,100,100,
"Current image") ;
110 #elif defined(VISP_HAVE_OPENCV)
112 #elif defined(VISP_HAVE_GTK)
121 std::cout << std::endl ;
122 std::cout <<
"-------------------------------------------------------" << std::endl ;
123 std::cout <<
" Test program for vpServo " <<std::endl ;
124 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
125 std::cout <<
" Simulation " << std::endl ;
126 std::cout <<
" task : servo a point " << std::endl ;
127 std::cout <<
"-------------------------------------------------------" << std::endl ;
128 std::cout << std::endl ;
142 for (i=0 ; i < nbline ; i++)
158 vpTRACE(
"sets the current position of the visual feature ") ;
160 for (i=0 ; i < nbline ; i++)
163 vpTRACE(
"sets the desired position of the visual feature ") ;
180 vpTRACE(
"\t we want an eye-in-hand control law") ;
181 vpTRACE(
"\t robot is controlled in the camera frame") ;
185 vpTRACE(
"\t we want to see a point on a point..") ;
186 std::cout << std::endl ;
187 for (i=0 ; i < nbline ; i++)
194 vpTRACE(
"Display task information " ) ;
200 unsigned int iter=0 ;
204 double lambda_av =0.05;
211 while(erreur > 0.00001)
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 ;
258 erreur = ( task.
getError() ).sumSquare();
272 double vitesse = 0.02;
273 unsigned int tempo = 1200;
277 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
284 for (i=0 ; i < nbline ; i++)
300 if ( iter%tempo < 400 /*&& iter%tempo >= 0*/)
303 e1[0] = fabs(vitesse) ;
305 rapport = vitesse/proj_e1[0];
308 if ( iter == 199 ) iter+=200;
311 if ( iter%tempo < 600 && iter%tempo >= 400)
314 e2[1] = fabs(vitesse) ;
316 rapport = vitesse/proj_e2[1];
321 if ( iter%tempo < 1000 && iter%tempo >= 600)
324 e1[0] = -fabs(vitesse) ;
326 rapport = -vitesse/proj_e1[0];
331 if ( iter%tempo < 1200 && iter%tempo >= 1000)
334 e2[1] = -fabs(vitesse) ;
336 rapport = -vitesse/proj_e2[1];
356 vpTRACE(
"Display task information " ) ;
371 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
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 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)
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.
vpColVector secondaryTask(const vpColVector &de2dt)
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
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.
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
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)
void setServo(const vpServoType &servo_type)
void setRhoTheta(const double rho, const double theta)