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/blob/vpDot.h>
74 #include <visp3/core/vpHomogeneousMatrix.h>
75 #include <visp3/core/vpIoTools.h>
76 #include <visp3/core/vpMath.h>
77 #include <visp3/core/vpPoint.h>
78 #include <visp3/core/vpRotationMatrix.h>
79 #include <visp3/core/vpRxyzVector.h>
80 #include <visp3/core/vpTranslationVector.h>
81 #include <visp3/robot/vpRobotAfma6.h>
82 #include <visp3/visual_features/vpFeatureBuilder.h>
83 #include <visp3/visual_features/vpFeaturePoint.h>
84 #include <visp3/vs/vpServo.h>
85 #include <visp3/vs/vpServoDisplay.h>
88 #include <visp3/core/vpException.h>
100 std::string username;
105 std::string logdirname;
106 logdirname =
"/tmp/" + username;
114 std::cerr << std::endl <<
"ERROR:" << std::endl;
115 std::cerr <<
" Cannot create " << logdirname << std::endl;
119 std::string logfilename;
120 logfilename = logdirname +
"/log.dat";
123 std::ofstream flog(logfilename.c_str());
138 #elif defined(HAVE_OPENCV_HIGHGUI)
140 #elif defined(VISP_HAVE_GTK)
149 std::cout << std::endl;
150 std::cout <<
"-------------------------------------------------------" << std::endl;
151 std::cout <<
" Test program for vpServo " << std::endl;
152 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
153 std::cout <<
" Use of the Afma6 robot " << std::endl;
154 std::cout <<
" Interaction matrix computed with the desired features " << std::endl;
156 std::cout <<
" task : servo 4 points on a square with dimension " << L <<
" meters" << std::endl;
157 std::cout <<
"-------------------------------------------------------" << std::endl;
158 std::cout << std::endl;
163 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
164 for (i = 0; i < 4; i++) {
181 robot.getCameraParameters(cam, I);
185 for (i = 0; i < 4; i++)
207 for (
int i = 0; i < 4; i++) {
225 std::cout << std::endl;
226 for (i = 0; i < 4; i++)
238 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
248 for (i = 0; i < 4; i++) {
262 for (i = 0; i < 4; i++)
278 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
288 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
298 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
303 flog << (task.
getError()).t() << std::endl;
317 std::cout <<
"Test failed with exception: " << e << std::endl;
325 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.
vpCameraParametersProjType
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
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 blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
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...
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double rad(double deg)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void projection(const vpColVector &_cP, vpColVector &_p) const vp_override
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override
void setWorldCoordinates(double oX, double oY, double oZ)
Control of Irisa's gantry robot named Afma6.
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)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
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 print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that consider the case of a translation vector.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.