59 #include <visp/vpConfig.h>
60 #include <visp/vpDebug.h>
64 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
66 #include <visp/vp1394TwoGrabber.h>
67 #include <visp/vpImage.h>
68 #include <visp/vpImageIo.h>
69 #include <visp/vpDisplay.h>
70 #include <visp/vpDisplayX.h>
71 #include <visp/vpDisplayOpenCV.h>
72 #include <visp/vpDisplayGTK.h>
74 #include <visp/vpMath.h>
75 #include <visp/vpHomogeneousMatrix.h>
76 #include <visp/vpFeatureLine.h>
77 #include <visp/vpMeLine.h>
78 #include <visp/vpCylinder.h>
79 #include <visp/vpServo.h>
80 #include <visp/vpFeatureBuilder.h>
82 #include <visp/vpRobotAfma6.h>
85 #include <visp/vpException.h>
86 #include <visp/vpMatrixException.h>
87 #include <visp/vpServoDisplay.h>
104 vpDisplayX display(I,100,100,
"Current image") ;
105 #elif defined(VISP_HAVE_OPENCV)
107 #elif defined(VISP_HAVE_GTK)
115 std::cout << std::endl ;
116 std::cout <<
"-------------------------------------------------------" << std::endl ;
117 std::cout <<
" Test program for vpServo " <<std::endl ;
118 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
119 std::cout <<
" Simulation " << std::endl ;
120 std::cout <<
" task : servo a point " << std::endl ;
121 std::cout <<
"-------------------------------------------------------" << std::endl ;
122 std::cout << std::endl ;
136 for (i=0 ; i < nbline ; i++)
152 vpTRACE(
"sets the current position of the visual feature ") ;
154 for (i=0 ; i < nbline ; i++)
157 vpTRACE(
"sets the desired position of the visual feature ") ;
174 vpTRACE(
"\t we want an eye-in-hand control law") ;
175 vpTRACE(
"\t robot is controlled in the camera frame") ;
179 vpTRACE(
"\t we want to see a two lines on two lines..") ;
180 std::cout << std::endl ;
181 for (i=0 ; i < nbline ; i++)
188 vpTRACE(
"Display task information " ) ;
194 unsigned int iter=0 ;
198 double lambda_av =0.05;
203 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
210 for (i=0 ; i < nbline ; i++)
216 vpTRACE(
"%f %f ",line[i].getRho(), line[i].getTheta()) ;
227 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
231 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
253 vpTRACE(
"Display task information " ) ;
268 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.
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)