50 #include <visp3/core/vpConfig.h> 51 #include <visp3/core/vpDebug.h> 59 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394)) 61 #include <visp3/sensor/vp1394TwoGrabber.h> 62 #include <visp3/core/vpImage.h> 63 #include <visp3/core/vpDisplay.h> 64 #include <visp3/gui/vpDisplayX.h> 65 #include <visp3/gui/vpDisplayOpenCV.h> 66 #include <visp3/gui/vpDisplayGTK.h> 67 #include <visp3/core/vpMath.h> 68 #include <visp3/core/vpHomogeneousMatrix.h> 69 #include <visp3/visual_features/vpFeaturePoint.h> 70 #include <visp3/core/vpPoint.h> 71 #include <visp3/vs/vpServo.h> 72 #include <visp3/visual_features/vpFeatureBuilder.h> 73 #include <visp3/robot/vpRobotViper850.h> 74 #include <visp3/core/vpIoTools.h> 77 #include <visp3/core/vpException.h> 78 #include <visp3/vs/vpServoDisplay.h> 80 #include <visp3/blob/vpDot2.h> 96 std::string logdirname;
97 logdirname =
"/tmp/" + username;
106 std::cerr << std::endl
107 <<
"ERROR:" << std::endl;
108 std::cerr <<
" Cannot create " << logdirname << std::endl;
112 std::string logfilename;
113 logfilename = logdirname +
"/log.dat";
116 std::ofstream flog(logfilename.c_str());
134 vpDisplayX display(I,800,100,
"Current image") ;
135 #elif defined(VISP_HAVE_OPENCV) 137 #elif defined(VISP_HAVE_GTK) 145 std::cout << std::endl ;
146 std::cout <<
"-------------------------------------------------------" << std::endl ;
147 std::cout <<
" Test program for vpServo " <<std::endl ;
148 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
149 std::cout <<
" Use of the Afma6 robot " << std::endl ;
150 std::cout <<
" task : servo a point " << std::endl ;
151 std::cout <<
"-------------------------------------------------------" << std::endl ;
152 std::cout << std::endl ;
157 std::cout <<
"Click on a dot..." << std::endl;
167 vpTRACE(
"sets the current position of the visual feature ") ;
172 vpTRACE(
"sets the desired position of the visual feature ") ;
177 vpTRACE(
"\t we want an eye-in-hand control law") ;
178 vpTRACE(
"\t articular velocity are computed") ;
183 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
189 std::cout << cVe <<std::endl ;
193 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
199 vpTRACE(
"\t we want to see a point on a point..") ;
200 std::cout << std::endl ;
206 vpTRACE(
"Display task information " ) ;
211 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
252 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 253 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
263 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 264 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
274 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 275 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
280 flog << ( task.
getError() ).t() << std::endl;
289 std::cout <<
"Display task information: " << std::endl;
307 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Control of Irisa's Viper S850 robot named Viper850.
void set_eJe(const vpMatrix &eJe_)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpImagePoint getCog() const
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
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)
static const vpColor blue