59 #include <visp3/core/vpConfig.h>
60 #include <visp3/core/vpDebug.h>
61 #if (defined(VISP_HAVE_AFMA4) && defined(VISP_HAVE_DC1394))
63 #include <visp3/core/vpDisplay.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpImagePoint.h>
66 #include <visp3/gui/vpDisplayGTK.h>
67 #include <visp3/gui/vpDisplayOpenCV.h>
68 #include <visp3/gui/vpDisplayX.h>
69 #include <visp3/sensor/vp1394TwoGrabber.h>
71 #include <visp3/core/vpHomogeneousMatrix.h>
72 #include <visp3/core/vpIoTools.h>
73 #include <visp3/core/vpMath.h>
74 #include <visp3/core/vpPoint.h>
75 #include <visp3/robot/vpRobotAfma4.h>
76 #include <visp3/visual_features/vpFeatureBuilder.h>
77 #include <visp3/visual_features/vpFeaturePoint.h>
78 #include <visp3/vs/vpServo.h>
81 #include <visp3/core/vpException.h>
82 #include <visp3/vs/vpServoDisplay.h>
84 #include <visp3/blob/vpDot.h>
100 std::string logdirname;
101 logdirname =
"/tmp/" + username;
109 std::cerr << std::endl <<
"ERROR:" << std::endl;
110 std::cerr <<
" Cannot create " << logdirname << std::endl;
114 std::string logfilename;
115 logfilename = logdirname +
"/log.dat";
118 std::ofstream flog(logfilename.c_str());
134 #elif defined(HAVE_OPENCV_HIGHGUI)
136 #elif defined(VISP_HAVE_GTK)
143 std::cout << std::endl;
144 std::cout <<
"-------------------------------------------------------" << std::endl;
145 std::cout <<
" Test program for vpServo " << std::endl;
146 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
147 std::cout <<
" Simulation " << std::endl;
148 std::cout <<
" task : servo a point " << std::endl;
149 std::cout <<
"-------------------------------------------------------" << std::endl;
150 std::cout << std::endl;
154 std::cout <<
"Click on a dot..." << std::endl;
165 vpTRACE(
"sets the current position of the visual feature ");
169 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");
178 vpTRACE(
"\t we want to see a point on a point..");
179 std::cout << std::endl;
185 vpTRACE(
"Display task information ");
190 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
223 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
233 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
243 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
248 flog << task.
getError() << std::endl;
261 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
269 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.
@ vpVIDEO_MODE_640x480_MONO8
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)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Control of Irisa's cylindrical robot named Afma4.
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 addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.