63 #include <visp3/core/vpConfig.h>
64 #include <visp3/core/vpDebug.h>
65 #if (defined(VISP_HAVE_AFMA4) && defined(VISP_HAVE_DC1394))
67 #include <visp3/core/vpDisplay.h>
68 #include <visp3/core/vpImage.h>
69 #include <visp3/core/vpImagePoint.h>
70 #include <visp3/gui/vpDisplayGTK.h>
71 #include <visp3/gui/vpDisplayOpenCV.h>
72 #include <visp3/gui/vpDisplayX.h>
73 #include <visp3/sensor/vp1394TwoGrabber.h>
75 #include <visp3/core/vpHomogeneousMatrix.h>
76 #include <visp3/core/vpIoTools.h>
77 #include <visp3/core/vpMath.h>
78 #include <visp3/core/vpPoint.h>
79 #include <visp3/robot/vpRobotAfma4.h>
80 #include <visp3/visual_features/vpFeatureBuilder.h>
81 #include <visp3/visual_features/vpFeaturePoint.h>
82 #include <visp3/vs/vpServo.h>
85 #include <visp3/core/vpException.h>
86 #include <visp3/vs/vpServoDisplay.h>
88 #include <visp3/blob/vpDot.h>
104 std::string logdirname;
105 logdirname =
"/tmp/" + username;
113 std::cerr << std::endl <<
"ERROR:" << std::endl;
114 std::cerr <<
" Cannot create " << logdirname << std::endl;
118 std::string logfilename;
119 logfilename = logdirname +
"/log.dat";
122 std::ofstream flog(logfilename.c_str());
140 #elif defined(HAVE_OPENCV_HIGHGUI)
142 #elif defined(VISP_HAVE_GTK)
150 std::cout << std::endl;
151 std::cout <<
"-------------------------------------------------------" << std::endl;
152 std::cout <<
" Test program for vpServo " << std::endl;
153 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
154 std::cout <<
" Use of the Afma4 robot " << std::endl;
155 std::cout <<
" task : servo a point " << std::endl;
156 std::cout <<
"-------------------------------------------------------" << std::endl;
157 std::cout << std::endl;
161 std::cout <<
"Click on a dot..." << std::endl;
173 vpTRACE(
"sets the current position of the visual feature ");
178 vpTRACE(
"sets the desired position of the visual feature ");
183 vpTRACE(
"\t we want an eye-in-hand control law");
184 vpTRACE(
"\t articular velocity are computed");
188 vpTRACE(
"Set the position of the end-effector frame in the camera frame");
194 std::cout << cVe << std::endl;
198 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)");
203 vpTRACE(
"\t we want to see a point on a point..");
204 std::cout << std::endl;
210 vpTRACE(
"Display task information ");
215 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
257 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
267 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
277 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
282 flog << task.
getError() << std::endl;
291 vpTRACE(
"Display task information ");
295 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
303 std::cout <<
"You do not have an afma4 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
void track(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
Control of Irisa's cylindrical robot named Afma4.
void get_eJe(vpMatrix &eJe) vp_override
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
vpVelocityTwistMatrix get_cVe() const
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.