59 #include <visp3/core/vpConfig.h> 60 #include <visp3/core/vpDebug.h> 64 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 66 #include <visp3/sensor/vp1394TwoGrabber.h> 67 #include <visp3/core/vpImage.h> 68 #include <visp3/io/vpImageIo.h> 69 #include <visp3/core/vpDisplay.h> 70 #include <visp3/gui/vpDisplayX.h> 71 #include <visp3/gui/vpDisplayOpenCV.h> 72 #include <visp3/gui/vpDisplayGTK.h> 74 #include <visp3/core/vpMath.h> 75 #include <visp3/core/vpHomogeneousMatrix.h> 76 #include <visp3/visual_features/vpFeatureLine.h> 77 #include <visp3/me/vpMeLine.h> 78 #include <visp3/core/vpCylinder.h> 79 #include <visp3/vs/vpServo.h> 80 #include <visp3/visual_features/vpFeatureBuilder.h> 82 #include <visp3/robot/vpRobotAfma6.h> 85 #include <visp3/core/vpException.h> 86 #include <visp3/vs/vpServoDisplay.h> 104 vpDisplayX display(I,100,100,
"Current image") ;
105 #elif defined(VISP_HAVE_OPENCV) 107 #elif defined(VISP_HAVE_GTK) 116 std::cout << std::endl ;
117 std::cout <<
"-------------------------------------------------------" << std::endl ;
118 std::cout <<
" Test program for vpServo " <<std::endl ;
119 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
120 std::cout <<
" Simulation " << std::endl ;
121 std::cout <<
" task : servo a point " << std::endl ;
122 std::cout <<
"-------------------------------------------------------" << std::endl ;
123 std::cout << std::endl ;
137 for (i=0 ; i < nbline ; i++)
153 vpTRACE(
"sets the current position of the visual feature ") ;
155 for (i=0 ; i < nbline ; i++)
158 vpTRACE(
"sets the desired position of the visual feature ") ;
175 vpTRACE(
"\t we want an eye-in-hand control law") ;
176 vpTRACE(
"\t robot is controlled in the camera frame") ;
180 vpTRACE(
"\t we want to see a point on a point..") ;
181 std::cout << std::endl ;
182 for (i=0 ; i < nbline ; i++)
189 vpTRACE(
"Display task information " ) ;
195 unsigned int iter=0 ;
199 double lambda_av =0.05;
206 while(erreur > 0.00001)
208 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
215 for (i=0 ; i < nbline ; i++)
231 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
235 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
253 erreur = ( task.
getError() ).sumSquare();
267 double vitesse = 0.02;
268 unsigned int tempo = 1200;
272 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
279 for (i=0 ; i < nbline ; i++)
295 if ( iter%tempo < 400 /*&& iter%tempo >= 0*/)
298 e1[0] = fabs(vitesse) ;
300 rapport = vitesse/proj_e1[0];
303 if ( iter == 199 ) iter+=200;
306 if ( iter%tempo < 600 && iter%tempo >= 400)
309 e2[1] = fabs(vitesse) ;
311 rapport = vitesse/proj_e2[1];
316 if ( iter%tempo < 1000 && iter%tempo >= 600)
319 e1[0] = -fabs(vitesse) ;
321 rapport = -vitesse/proj_e1[0];
326 if ( iter%tempo < 1200 && iter%tempo >= 1000)
329 e2[1] = -fabs(vitesse) ;
331 rapport = -vitesse/proj_e2[1];
351 vpTRACE(
"Display task information " ) ;
366 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void setPointsToTrack(const int &n)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setSampleStep(const double &s)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void track(const vpImage< unsigned char > &Im)
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
static void display(const vpImage< unsigned char > &I)
Class that tracks in an image a line moving edges.
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
Class that defines what is a cylinder.
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setThreshold(const double &t)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
void setServo(const vpServoType &servo_type)
void setRhoTheta(const double rho, const double theta)