61 #include <visp3/core/vpConfig.h>
62 #include <visp3/core/vpDebug.h>
63 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpImagePoint.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/gui/vpDisplayOpenCV.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/core/vpHomogeneousMatrix.h>
74 #include <visp3/core/vpIoTools.h>
75 #include <visp3/core/vpMath.h>
76 #include <visp3/core/vpPoint.h>
77 #include <visp3/robot/vpRobotAfma6.h>
78 #include <visp3/visual_features/vpFeatureBuilder.h>
79 #include <visp3/visual_features/vpFeaturePoint.h>
80 #include <visp3/vs/vpServo.h>
83 #include <visp3/core/vpException.h>
84 #include <visp3/vs/vpServoDisplay.h>
86 #include <visp3/blob/vpDot.h>
101 std::string logdirname;
102 logdirname =
"/tmp/" + username;
110 std::cerr << std::endl <<
"ERROR:" << std::endl;
111 std::cerr <<
" Cannot create " << logdirname << std::endl;
115 std::string logfilename;
116 logfilename = logdirname +
"/log.dat";
119 std::ofstream flog(logfilename.c_str());
143 #elif defined(HAVE_OPENCV_HIGHGUI)
145 #elif defined(VISP_HAVE_GTK)
152 std::cout << std::endl;
153 std::cout <<
"-------------------------------------------------------" << std::endl;
154 std::cout <<
" Test program for vpServo " << std::endl;
155 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
156 std::cout <<
" Use of the Afma6 robot " << std::endl;
157 std::cout <<
" task : servo 4 points on a square with dimension " << L <<
" meters" << std::endl;
158 std::cout <<
"-------------------------------------------------------" << std::endl;
159 std::cout << std::endl;
164 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
166 for (i = 0; i < 4; i++) {
178 robot.getCameraParameters(cam, I);
182 for (i = 0; i < 4; i++)
194 std::cout << std::endl;
195 for (i = 0; i < 4; i++)
225 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
235 for (i = 0; i < 4; i++) {
246 vpTRACE(
"Error detected while tracking visual features");
252 for (i = 0; i < 4; i++)
275 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
285 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
295 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
300 flog << (task.
getError()).t() << std::endl;
306 vpTRACE(
"Display task information ");
312 std::cout <<
"Test failed with exception: " << e << std::endl;
320 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 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 ...
Implementation of a matrix and operations on matrices.
Control of Irisa's gantry robot named Afma6.
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.