65 #include <visp3/core/vpConfig.h> 66 #include <visp3/core/vpDebug.h> 67 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394)) 69 #include <visp3/core/vpDisplay.h> 70 #include <visp3/core/vpImage.h> 71 #include <visp3/core/vpImagePoint.h> 72 #include <visp3/gui/vpDisplayGTK.h> 73 #include <visp3/gui/vpDisplayOpenCV.h> 74 #include <visp3/gui/vpDisplayX.h> 75 #include <visp3/sensor/vp1394TwoGrabber.h> 77 #include <visp3/blob/vpDot.h> 78 #include <visp3/core/vpHomogeneousMatrix.h> 79 #include <visp3/core/vpIoTools.h> 80 #include <visp3/core/vpMath.h> 81 #include <visp3/core/vpPoint.h> 82 #include <visp3/core/vpRotationMatrix.h> 83 #include <visp3/core/vpRxyzVector.h> 84 #include <visp3/core/vpTranslationVector.h> 85 #include <visp3/robot/vpRobotAfma6.h> 86 #include <visp3/visual_features/vpFeatureBuilder.h> 87 #include <visp3/visual_features/vpFeaturePoint.h> 88 #include <visp3/vs/vpServo.h> 89 #include <visp3/vs/vpServoDisplay.h> 92 #include <visp3/core/vpException.h> 94 #define L 0.05 // to deal with a 10cm by 10cm square 104 std::string username;
109 std::string logdirname;
110 logdirname =
"/tmp/" + username;
118 std::cerr << std::endl <<
"ERROR:" << std::endl;
119 std::cerr <<
" Cannot create " << logdirname << std::endl;
123 std::string logfilename;
124 logfilename = logdirname +
"/log.dat";
127 std::ofstream flog(logfilename.c_str());
141 vpDisplayX display(I, 100, 100,
"Current image");
142 #elif defined(VISP_HAVE_OPENCV) 144 #elif defined(VISP_HAVE_GTK) 153 std::cout << std::endl;
154 std::cout <<
"-------------------------------------------------------" << std::endl;
155 std::cout <<
" Test program for vpServo " << std::endl;
156 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
157 std::cout <<
" Use of the Afma6 robot " << std::endl;
158 std::cout <<
" Interaction matrix computed with the desired features " << std::endl;
160 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
161 std::cout <<
"-------------------------------------------------------" << std::endl;
162 std::cout << std::endl;
167 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
168 for (i = 0; i < 4; i++) {
189 for (i = 0; i < 4; i++)
211 for (
int i = 0; i < 4; i++) {
229 std::cout << std::endl;
230 for (i = 0; i < 4; i++)
242 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
252 for (i = 0; i < 4; i++) {
266 for (i = 0; i < 4; i++)
282 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
292 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
302 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
307 flog << (task.
getError()).t() << std::endl;
324 std::cout <<
"Test failed with exception: " << e << std::endl;
332 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void projection(const vpColVector &_cP, vpColVector &_p)
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static void flush(const vpImage< unsigned char > &I)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
Implementation of a rotation matrix and operations on such kind of matrices.
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpImagePoint getCog() const
Implementation of a rotation vector as Euler angle minimal representation.
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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 changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.
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