54 #include <visp3/core/vpConfig.h>
55 #include <visp3/core/vpDebug.h>
56 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
58 #include <visp3/core/vpDisplay.h>
59 #include <visp3/core/vpImage.h>
60 #include <visp3/gui/vpDisplayGTK.h>
61 #include <visp3/gui/vpDisplayOpenCV.h>
62 #include <visp3/gui/vpDisplayX.h>
63 #include <visp3/io/vpImageIo.h>
64 #include <visp3/sensor/vp1394TwoGrabber.h>
66 #include <visp3/core/vpCylinder.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/core/vpMath.h>
69 #include <visp3/me/vpMeLine.h>
70 #include <visp3/visual_features/vpFeatureBuilder.h>
71 #include <visp3/visual_features/vpFeatureLine.h>
72 #include <visp3/vs/vpServo.h>
74 #include <visp3/robot/vpRobotAfma6.h>
77 #include <visp3/core/vpException.h>
78 #include <visp3/vs/vpServoDisplay.h>
94 #elif defined(HAVE_OPENCV_HIGHGUI)
96 #elif defined(VISP_HAVE_GTK)
104 std::cout << std::endl;
105 std::cout <<
"-------------------------------------------------------" << std::endl;
106 std::cout <<
" Test program for vpServo " << std::endl;
107 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
108 std::cout <<
" Simulation " << std::endl;
109 std::cout <<
" task : servo a point " << std::endl;
110 std::cout <<
"-------------------------------------------------------" << std::endl;
111 std::cout << std::endl;
125 for (i = 0; i < nbline; i++) {
138 robot.getCameraParameters(cam, I);
140 vpTRACE(
"sets the current position of the visual feature ");
142 for (i = 0; i < nbline; i++)
145 vpTRACE(
"sets the desired position of the visual feature ");
164 vpTRACE(
"\t we want an eye-in-hand control law");
165 vpTRACE(
"\t robot is controlled in the camera frame");
169 vpTRACE(
"\t we want to see a two lines on two lines..");
170 std::cout << std::endl;
171 for (i = 0; i < nbline; i++)
177 vpTRACE(
"Display task information ");
182 unsigned int iter = 0;
186 double lambda_av = 0.05;
190 std::cout <<
"---------------------------------------------" << iter << std::endl;
197 for (i = 0; i < nbline; i++) {
202 vpTRACE(
"%f %f ", line[i].getRho(), line[i].getTheta());
213 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
216 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
238 vpTRACE(
"Display task information ");
243 std::cout <<
"Test failed with exception: " << e << std::endl;
251 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)
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.