64 #include <visp3/core/vpConfig.h> 65 #include <visp3/core/vpDebug.h> 71 #if (defined (VISP_HAVE_AFMA4) && defined (VISP_HAVE_DC1394)) 73 #include <visp3/sensor/vp1394TwoGrabber.h> 74 #include <visp3/core/vpImage.h> 75 #include <visp3/core/vpImagePoint.h> 76 #include <visp3/core/vpDisplay.h> 77 #include <visp3/gui/vpDisplayX.h> 78 #include <visp3/gui/vpDisplayOpenCV.h> 79 #include <visp3/gui/vpDisplayGTK.h> 81 #include <visp3/core/vpMath.h> 82 #include <visp3/core/vpHomogeneousMatrix.h> 83 #include <visp3/visual_features/vpFeaturePoint.h> 84 #include <visp3/core/vpPoint.h> 85 #include <visp3/vs/vpServo.h> 86 #include <visp3/visual_features/vpFeatureBuilder.h> 87 #include <visp3/robot/vpRobotAfma4.h> 88 #include <visp3/core/vpIoTools.h> 91 #include <visp3/core/vpException.h> 92 #include <visp3/vs/vpServoDisplay.h> 94 #include <visp3/blob/vpDot.h> 106 std::string username;
111 std::string logdirname;
112 logdirname =
"/tmp/" + username;
121 std::cerr << std::endl
122 <<
"ERROR:" << std::endl;
123 std::cerr <<
" Cannot create " << logdirname << std::endl;
127 std::string logfilename;
128 logfilename = logdirname +
"/log.dat";
131 std::ofstream flog(logfilename.c_str());
148 vpDisplayX display(I,100,100,
"Current image") ;
149 #elif defined(VISP_HAVE_OPENCV) 151 #elif defined(VISP_HAVE_GTK) 159 std::cout << std::endl ;
160 std::cout <<
"-------------------------------------------------------" << std::endl ;
161 std::cout <<
" Test program for vpServo " <<std::endl ;
162 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
163 std::cout <<
" Use of the Afma4 robot " << std::endl ;
164 std::cout <<
" task : servo a point " << std::endl ;
165 std::cout <<
"-------------------------------------------------------" << std::endl ;
166 std::cout << std::endl ;
171 std::cout <<
"Click on a dot..." << std::endl;
183 vpTRACE(
"sets the current position of the visual feature ") ;
188 vpTRACE(
"sets the desired position of the visual feature ") ;
193 vpTRACE(
"\t we want an eye-in-hand control law") ;
194 vpTRACE(
"\t articular velocity are computed") ;
199 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
205 std::cout << cVe <<std::endl ;
209 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
215 vpTRACE(
"\t we want to see a point on a point..") ;
216 std::cout << std::endl ;
222 vpTRACE(
"Display task information " ) ;
227 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
270 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 271 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
281 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 282 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
292 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 293 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
298 flog << task.
getError() << std::endl;
306 vpTRACE(
"Display task information " ) ;
312 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
322 vpERROR_TRACE(
"You do not have an afma4 robot or a firewire framegrabber connected to your computer...");
Implementation of a matrix and operations on matrices.
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)
error that can be emited by ViSP classes.
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 open(vpImage< unsigned char > &I)
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...
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)
Control of Irisa's cylindrical robot named Afma4.
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 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