58 #include <visp3/core/vpConfig.h>
59 #include <visp3/core/vpDebug.h>
60 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/core/vpImage.h>
64 #include <visp3/gui/vpDisplayGTK.h>
65 #include <visp3/gui/vpDisplayOpenCV.h>
66 #include <visp3/gui/vpDisplayX.h>
67 #include <visp3/io/vpImageIo.h>
68 #include <visp3/sensor/vp1394TwoGrabber.h>
70 #include <visp3/core/vpCylinder.h>
71 #include <visp3/core/vpHomogeneousMatrix.h>
72 #include <visp3/core/vpMath.h>
73 #include <visp3/me/vpMeLine.h>
74 #include <visp3/visual_features/vpFeatureBuilder.h>
75 #include <visp3/visual_features/vpFeatureLine.h>
76 #include <visp3/vs/vpServo.h>
78 #include <visp3/robot/vpRobotAfma6.h>
81 #include <visp3/core/vpException.h>
82 #include <visp3/vs/vpServoDisplay.h>
98 #elif defined(HAVE_OPENCV_HIGHGUI)
100 #elif defined(VISP_HAVE_GTK)
109 std::cout << std::endl;
110 std::cout <<
"-------------------------------------------------------" << std::endl;
111 std::cout <<
" Test program for vpServo " << std::endl;
112 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
113 std::cout <<
" Simulation " << std::endl;
114 std::cout <<
" task : servo a point " << std::endl;
115 std::cout <<
"-------------------------------------------------------" << std::endl;
116 std::cout << std::endl;
130 for (i = 0; i < nbline; i++) {
143 robot.getCameraParameters(cam, I);
145 vpTRACE(
"sets the current position of the visual feature ");
147 for (i = 0; i < nbline; i++)
150 vpTRACE(
"sets the desired position of the visual feature ");
169 vpTRACE(
"\t we want an eye-in-hand control law");
170 vpTRACE(
"\t robot is controlled in the camera frame");
174 vpTRACE(
"\t we want to see a point on a point..");
175 std::cout << std::endl;
176 for (i = 0; i < nbline; i++)
182 vpTRACE(
"Display task information ");
187 unsigned int iter = 0;
191 double lambda_av = 0.05;
197 while (erreur > 0.00001) {
198 std::cout <<
"---------------------------------------------" << iter << std::endl;
205 for (i = 0; i < nbline; i++) {
220 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
223 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
241 erreur = (task.
getError()).sumSquare();
258 double vitesse = 0.02;
259 unsigned int tempo = 1200;
262 std::cout <<
"---------------------------------------------" << iter << std::endl;
269 for (i = 0; i < nbline; i++) {
284 if (iter % tempo < 400 /*&& iter%tempo >= 0*/) {
286 e1[0] = fabs(vitesse);
288 rapport = vitesse / proj_e1[0];
296 if (iter % tempo < 600 && iter % tempo >= 400) {
298 e2[1] = fabs(vitesse);
300 rapport = vitesse / proj_e2[1];
305 if (iter % tempo < 1000 && iter % tempo >= 600) {
307 e1[0] = -fabs(vitesse);
309 rapport = -vitesse / proj_e1[0];
314 if (iter % tempo < 1200 && iter % tempo >= 1000) {
316 e2[1] = -fabs(vitesse);
318 rapport = -vitesse / proj_e2[1];
336 vpTRACE(
"Display task information ");
341 std::cout <<
"Test failed with exception: " << e << std::endl;
349 std::cout <<
"You do not have an afma6 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 green
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
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 bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(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 line visual feature which is composed by two parameters that are and ,...
void setRhoTheta(double rho, double theta)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const vp_override
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Class that tracks in an image a line moving edges.
void display(const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1)
void track(const vpImage< unsigned char > &I)
void initTracking(const vpImage< unsigned char > &I)
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
void setPointsToTrack(const int &points_to_track)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
Control of Irisa's gantry robot named Afma6.
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)
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 print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
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.