64 #include <visp3/core/vpConfig.h> 65 #include <visp3/core/vpDebug.h> 66 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394)) 68 #include <visp3/core/vpDisplay.h> 69 #include <visp3/core/vpImage.h> 70 #include <visp3/gui/vpDisplayGTK.h> 71 #include <visp3/gui/vpDisplayOpenCV.h> 72 #include <visp3/gui/vpDisplayX.h> 73 #include <visp3/io/vpImageIo.h> 74 #include <visp3/sensor/vp1394TwoGrabber.h> 76 #include <visp3/core/vpHomogeneousMatrix.h> 77 #include <visp3/core/vpLine.h> 78 #include <visp3/core/vpMath.h> 79 #include <visp3/me/vpMeLine.h> 80 #include <visp3/visual_features/vpFeatureBuilder.h> 81 #include <visp3/visual_features/vpFeatureLine.h> 82 #include <visp3/vs/vpServo.h> 84 #include <visp3/robot/vpRobotAfma6.h> 87 #include <visp3/core/vpException.h> 88 #include <visp3/vs/vpServoDisplay.h> 103 vpDisplayX display(I, 100, 100,
"Current image");
104 #elif defined(VISP_HAVE_OPENCV) 106 #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 vpTRACE(
"The two lines to track must be parallels ");
138 for (i = 0; i < nbline; i++) {
153 vpTRACE(
"sets the current position of the visual feature ");
155 for (i = 0; i < nbline; i++)
158 vpTRACE(
"sets the desired position of the visual feature ");
172 lined[0].
setRho(-fabs(lined[0].getRho()));
174 lined[1].
setRho(-fabs(lined[1].getRho()));
182 vpTRACE(
"\t we want an eye-in-hand control law");
183 vpTRACE(
"\t robot is controlled in the camera frame");
186 vpTRACE(
"\t we want to see a point on a point..");
187 std::cout << std::endl;
188 for (i = 0; i < nbline; i++)
194 vpTRACE(
"Display task information ");
199 unsigned int iter = 0;
204 double lambda_av = 0.05;
209 std::cout <<
"---------------------------------------------" << iter << std::endl;
216 for (i = 0; i < nbline; i++) {
231 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
234 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
255 vpTRACE(
"Display task information ");
260 std::cout <<
"Test failed with exception: " << e << std::endl;
268 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setPointsToTrack(const int &n)
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)
void setSampleStep(const double &s)
void setTheta(double theta)
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.
void track(const vpImage< unsigned char > &Im)
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)
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Initialize the velocity controller.
vpColVector getError() const
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
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. Thus to enable this class OpenC...
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 3rd party library. Thus to enable this class G...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
static double rad(double deg)
Implementation of column vector and the associated operations.
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)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
void setServo(const vpServoType &servo_type)