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Visual Servoing Platform
version 3.2.0
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66 #include <visp3/core/vpConfig.h>
67 #include <visp3/core/vpDebug.h>
68 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
70 #include <visp3/core/vpDisplay.h>
71 #include <visp3/core/vpImage.h>
72 #include <visp3/core/vpImagePoint.h>
73 #include <visp3/gui/vpDisplayGTK.h>
74 #include <visp3/gui/vpDisplayOpenCV.h>
75 #include <visp3/gui/vpDisplayX.h>
76 #include <visp3/sensor/vp1394TwoGrabber.h>
78 #include <visp3/core/vpHomogeneousMatrix.h>
79 #include <visp3/core/vpIoTools.h>
80 #include <visp3/core/vpMath.h>
81 #include <visp3/core/vpPoint.h>
82 #include <visp3/robot/vpRobotAfma6.h>
83 #include <visp3/visual_features/vpFeatureBuilder.h>
84 #include <visp3/visual_features/vpFeaturePoint.h>
85 #include <visp3/vs/vpServo.h>
88 #include <visp3/core/vpException.h>
89 #include <visp3/vs/vpServoDisplay.h>
91 #include <visp3/blob/vpDot.h>
101 std::string username;
106 std::string logdirname;
107 logdirname =
"/tmp/" + username;
115 std::cerr << std::endl <<
"ERROR:" << std::endl;
116 std::cerr <<
" Cannot create " << logdirname << std::endl;
120 std::string logfilename;
121 logfilename = logdirname +
"/log.dat";
124 std::ofstream flog(logfilename.c_str());
139 vpDisplayX display(I, 100, 100,
"Current image");
140 #elif defined(VISP_HAVE_OPENCV)
142 #elif defined(VISP_HAVE_GTK)
150 std::cout << std::endl;
151 std::cout <<
"-------------------------------------------------------" << std::endl;
152 std::cout <<
" Test program for vpServo " << std::endl;
153 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
154 std::cout <<
" Use of the Afma6 robot " << std::endl;
155 std::cout <<
" task : servo a point " << std::endl;
156 std::cout <<
"-------------------------------------------------------" << std::endl;
157 std::cout << std::endl;
162 std::cout <<
"Click on a dot..." << std::endl;
173 robot.getCameraParameters(cam, I);
175 vpTRACE(
"sets the current position of the visual feature ");
180 vpTRACE(
"sets the desired position of the visual feature ");
185 vpTRACE(
"\t we want an eye-in-hand control law");
186 vpTRACE(
"\t articular velocity are computed");
190 vpTRACE(
"Set the position of the camera in the end-effector frame ");
196 std::cout << cVe << std::endl;
200 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)");
205 vpTRACE(
"\t we want to see a point on a point..");
206 std::cout << std::endl;
212 vpTRACE(
"Display task information ");
217 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
259 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
269 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
279 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
284 flog << (task.
getError()).t() << std::endl;
293 vpTRACE(
"Display task information ");
300 std::cout <<
"Test failed with exception: " << e << std::endl;
308 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
Initialize the velocity controller.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void setVideoMode(vp1394TwoVideoModeType videomode)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void buildFrom(const double x, const double y, const double Z)
Generic class defining intrinsic camera parameters.
void set_eJe(const vpMatrix &eJe_)
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
void track(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void set_Z(const double Z)
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpHomogeneousMatrix getPosition() const
static const vpColor green
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void get_eJe(vpMatrix &eJe)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void acquire(vpImage< unsigned char > &I)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static const vpColor blue
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
static void flush(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void open(vpImage< unsigned char > &I)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void initTracking(const vpImage< unsigned char > &I)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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)
error that can be emited by ViSP classes.
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.