62 #include <visp3/core/vpConfig.h>
63 #include <visp3/core/vpDebug.h>
64 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
66 #include <visp3/core/vpDisplay.h>
67 #include <visp3/core/vpImage.h>
68 #include <visp3/core/vpImagePoint.h>
69 #include <visp3/gui/vpDisplayGTK.h>
70 #include <visp3/gui/vpDisplayOpenCV.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/sensor/vp1394TwoGrabber.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/robot/vpRobotAfma6.h>
79 #include <visp3/visual_features/vpFeatureBuilder.h>
80 #include <visp3/visual_features/vpFeaturePoint.h>
81 #include <visp3/vs/vpServo.h>
84 #include <visp3/core/vpException.h>
85 #include <visp3/vs/vpServoDisplay.h>
87 #include <visp3/blob/vpDot.h>
102 std::string logdirname;
103 logdirname =
"/tmp/" + username;
111 std::cerr << std::endl <<
"ERROR:" << std::endl;
112 std::cerr <<
" Cannot create " << logdirname << std::endl;
116 std::string logfilename;
117 logfilename = logdirname +
"/log.dat";
120 std::ofstream flog(logfilename.c_str());
136 #elif defined(HAVE_OPENCV_HIGHGUI)
138 #elif defined(VISP_HAVE_GTK)
146 std::cout << std::endl;
147 std::cout <<
"-------------------------------------------------------" << std::endl;
148 std::cout <<
" Test program for vpServo " << std::endl;
149 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
150 std::cout <<
" Use of the Afma6 robot " << std::endl;
151 std::cout <<
" task : servo a point " << std::endl;
152 std::cout <<
"-------------------------------------------------------" << std::endl;
153 std::cout << std::endl;
158 std::cout <<
"Click on a dot..." << std::endl;
169 robot.getCameraParameters(cam, I);
171 vpTRACE(
"sets the current position of the visual feature ");
176 vpTRACE(
"sets the desired position of the visual feature ");
181 vpTRACE(
"\t we want an eye-in-hand control law");
182 vpTRACE(
"\t articular velocity are computed");
186 vpTRACE(
"Set the position of the end-effector frame in the camera frame");
192 std::cout << cVe << std::endl;
196 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)");
201 vpTRACE(
"\t we want to see a point on a point..");
202 std::cout << std::endl;
208 vpTRACE(
"Display task information ");
213 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
255 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
265 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
275 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
280 flog << (task.
getError()).t() << std::endl;
289 vpTRACE(
"Display task information ");
294 std::cout <<
"Test failed with exception: " << e << std::endl;
302 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)
Implementation of an homogeneous matrix and operations on such kind of matrices.
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.