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/blob/vpDot.h>
63 #include <visp3/core/vpDisplay.h>
64 #include <visp3/core/vpException.h>
65 #include <visp3/core/vpHomogeneousMatrix.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpImagePoint.h>
68 #include <visp3/core/vpIoTools.h>
69 #include <visp3/core/vpMath.h>
70 #include <visp3/core/vpPoint.h>
71 #include <visp3/gui/vpDisplayGTK.h>
72 #include <visp3/gui/vpDisplayOpenCV.h>
73 #include <visp3/gui/vpDisplayX.h>
74 #include <visp3/robot/vpRobotAfma6.h>
75 #include <visp3/sensor/vp1394TwoGrabber.h>
76 #include <visp3/visual_features/vpFeatureBuilder.h>
77 #include <visp3/visual_features/vpFeaturePoint.h>
78 #include <visp3/vs/vpServo.h>
79 #include <visp3/vs/vpServoDisplay.h>
94 std::string logdirname;
95 logdirname =
"/tmp/" + username;
103 std::cerr << std::endl <<
"ERROR:" << std::endl;
104 std::cerr <<
" Cannot create " << logdirname << std::endl;
108 std::string logfilename;
109 logfilename = logdirname +
"/log.dat";
112 std::ofstream flog(logfilename.c_str());
128 #elif defined(HAVE_OPENCV_HIGHGUI)
130 #elif defined(VISP_HAVE_GTK)
140 std::cout <<
"Click on a dot..." << std::endl;
150 robot.getCameraParameters(cam, I);
178 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
211 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
221 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
231 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
236 flog << (task.
getError()).t() << std::endl;
249 std::cout <<
"Test failed with exception: " << e << std::endl;
257 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 ...
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)
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 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.