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
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setPointsToTrack(const int &n)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setSampleStep(const double &s)
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 > &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 vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
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. Thus to enable this class OpenC...
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 3rd party library. Thus to enable this class G...
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)
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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)