63 #include <visp3/core/vpConfig.h> 64 #include <visp3/core/vpDebug.h> 70 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 72 #include <visp3/sensor/vp1394TwoGrabber.h> 73 #include <visp3/core/vpImage.h> 74 #include <visp3/core/vpImagePoint.h> 75 #include <visp3/core/vpDisplay.h> 76 #include <visp3/gui/vpDisplayX.h> 77 #include <visp3/gui/vpDisplayOpenCV.h> 78 #include <visp3/gui/vpDisplayGTK.h> 80 #include <visp3/core/vpMath.h> 81 #include <visp3/core/vpHomogeneousMatrix.h> 82 #include <visp3/visual_features/vpFeaturePoint.h> 83 #include <visp3/core/vpPoint.h> 84 #include <visp3/vs/vpServo.h> 85 #include <visp3/visual_features/vpFeatureBuilder.h> 86 #include <visp3/robot/vpRobotAfma6.h> 87 #include <visp3/core/vpIoTools.h> 90 #include <visp3/core/vpException.h> 91 #include <visp3/vs/vpServoDisplay.h> 93 #include <visp3/blob/vpDot.h> 104 std::string username;
109 std::string logdirname;
110 logdirname =
"/tmp/" + username;
119 std::cerr << std::endl
120 <<
"ERROR:" << std::endl;
121 std::cerr <<
" Cannot create " << logdirname << std::endl;
125 std::string logfilename;
126 logfilename = logdirname +
"/log.dat";
129 std::ofstream flog(logfilename.c_str());
144 vpDisplayX display(I,100,100,
"Current image") ;
145 #elif defined(VISP_HAVE_OPENCV) 147 #elif defined(VISP_HAVE_GTK) 155 std::cout << std::endl ;
156 std::cout <<
"-------------------------------------------------------" << std::endl ;
157 std::cout <<
" Test program for vpServo " <<std::endl ;
158 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
159 std::cout <<
" Use of the Afma6 robot " << std::endl ;
160 std::cout <<
" task : servo a point " << std::endl ;
161 std::cout <<
"-------------------------------------------------------" << std::endl ;
162 std::cout << std::endl ;
168 std::cout <<
"Click on a dot..." << std::endl;
181 vpTRACE(
"sets the current position of the visual feature ") ;
186 vpTRACE(
"sets the desired position of the visual feature ") ;
191 vpTRACE(
"\t we want an eye-in-hand control law") ;
192 vpTRACE(
"\t articular velocity are computed") ;
197 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
203 std::cout << cVe <<std::endl ;
207 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
213 vpTRACE(
"\t we want to see a point on a point..") ;
214 std::cout << std::endl ;
220 vpTRACE(
"Display task information " ) ;
225 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
267 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 268 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
278 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 279 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
289 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 290 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
295 flog << ( task.
getError() ).t() << std::endl;
303 vpTRACE(
"Display task information " ) ;
321 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of a matrix and operations on matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void get_eJe(vpMatrix &_eJe)
Implementation of an homogeneous matrix and operations on such kind of matrices.
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)
void track(const vpImage< unsigned char > &I)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
void open(vpImage< unsigned char > &I)
void get_cVe(vpVelocityTwistMatrix &_cVe) const
vpImagePoint getCog() const
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...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
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)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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)
void initTracking(const vpImage< unsigned char > &I)
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