Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in camera frame. The visual feature is the segment between two points.
#include <stdlib.h>
#include <vector>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureSegment.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
int main()
{
std::string username;
std::string logdirname;
logdirname = "/tmp/" + username;
try {
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
exit(-1);
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
std::ofstream flog(logfilename.c_str());
try {
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_OPENCV)
#elif defined(VISP_HAVE_GTK)
#endif
std::vector<vpDot> dot_d(2), dot(2);
std::cout << "define the initial segment" << std::endl;
for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
std::cout << "Click on a dot..." << std::endl;
i->initTracking(I);
cog = i->getCog();
}
std::cout << "define the destination segment" << std::endl;
for (std::vector<vpDot>::iterator i = dot_d.begin(); i != dot_d.end(); ++i) {
}
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for (;;) {
for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
i->track(I);
}
flog << (task.
getError()).t() << std::endl;
}
flog.close();
return EXIT_SUCCESS;
}
flog.close();
std::cout << "Test failed with exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif