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/gui/vpDisplayGTK.h>
68 #include <visp3/gui/vpDisplayOpenCV.h>
69 #include <visp3/gui/vpDisplayX.h>
70 #include <visp3/io/vpImageIo.h>
71 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/core/vpHomogeneousMatrix.h>
74 #include <visp3/core/vpLine.h>
75 #include <visp3/core/vpMath.h>
76 #include <visp3/me/vpMeLine.h>
77 #include <visp3/visual_features/vpFeatureBuilder.h>
78 #include <visp3/visual_features/vpFeatureLine.h>
79 #include <visp3/vs/vpServo.h>
81 #include <visp3/robot/vpRobotAfma6.h>
84 #include <visp3/core/vpException.h>
85 #include <visp3/vs/vpServoDisplay.h>
101 #elif defined(HAVE_OPENCV_HIGHGUI)
103 #elif defined(VISP_HAVE_GTK)
112 std::cout << std::endl;
113 std::cout <<
"-------------------------------------------------------" << std::endl;
114 std::cout <<
" Test program for vpServo " << std::endl;
115 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
116 std::cout <<
" Simulation " << std::endl;
117 std::cout <<
" task : servo a point " << std::endl;
118 std::cout <<
"-------------------------------------------------------" << std::endl;
119 std::cout << std::endl;
134 vpTRACE(
"The two lines to track must be parallels ");
136 for (i = 0; i < nbline; i++) {
149 robot.getCameraParameters(cam, I);
151 vpTRACE(
"sets the current position of the visual feature ");
153 for (i = 0; i < nbline; i++)
156 vpTRACE(
"sets the desired position of the visual feature ");
170 lined[0].
setRho(-fabs(lined[0].getRho()));
172 lined[1].
setRho(-fabs(lined[1].getRho()));
180 vpTRACE(
"\t we want an eye-in-hand control law");
181 vpTRACE(
"\t robot is controlled in the camera frame");
184 vpTRACE(
"\t we want to see a point on a point..");
185 std::cout << std::endl;
186 for (i = 0; i < nbline; i++)
192 vpTRACE(
"Display task information ");
197 unsigned int iter = 0;
202 double lambda_av = 0.05;
207 std::cout <<
"---------------------------------------------" << iter << std::endl;
214 for (i = 0; i < nbline; i++) {
229 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
232 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
254 vpTRACE(
"Display task information ");
259 std::cout <<
"Test failed with exception: " << e << std::endl;
267 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
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 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.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
void setTheta(double theta)
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
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 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.