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Visual Servoing Platform
version 3.3.0
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64 #include <visp3/core/vpConfig.h>
65 #include <visp3/core/vpDebug.h>
66 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
68 #include <visp3/core/vpDisplay.h>
69 #include <visp3/core/vpImage.h>
70 #include <visp3/gui/vpDisplayGTK.h>
71 #include <visp3/gui/vpDisplayOpenCV.h>
72 #include <visp3/gui/vpDisplayX.h>
73 #include <visp3/io/vpImageIo.h>
74 #include <visp3/sensor/vp1394TwoGrabber.h>
76 #include <visp3/core/vpHomogeneousMatrix.h>
77 #include <visp3/core/vpLine.h>
78 #include <visp3/core/vpMath.h>
79 #include <visp3/me/vpMeLine.h>
80 #include <visp3/visual_features/vpFeatureBuilder.h>
81 #include <visp3/visual_features/vpFeatureLine.h>
82 #include <visp3/vs/vpServo.h>
84 #include <visp3/robot/vpRobotAfma6.h>
87 #include <visp3/core/vpException.h>
88 #include <visp3/vs/vpServoDisplay.h>
103 vpDisplayX display(I, 100, 100,
"Current image");
104 #elif defined(VISP_HAVE_OPENCV)
106 #elif defined(VISP_HAVE_GTK)
115 std::cout << std::endl;
116 std::cout <<
"-------------------------------------------------------" << std::endl;
117 std::cout <<
" Test program for vpServo " << std::endl;
118 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
119 std::cout <<
" Simulation " << std::endl;
120 std::cout <<
" task : servo a point " << std::endl;
121 std::cout <<
"-------------------------------------------------------" << std::endl;
122 std::cout << std::endl;
136 vpTRACE(
"The two lines to track must be parallels ");
138 for (i = 0; i < nbline; i++) {
151 robot.getCameraParameters(cam, 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 ");
172 lined[0].
setRho(-fabs(lined[0].getRho()));
174 lined[1].
setRho(-fabs(lined[1].getRho()));
182 vpTRACE(
"\t we want an eye-in-hand control law");
183 vpTRACE(
"\t robot is controlled in the camera frame");
186 vpTRACE(
"\t we want to see a point on a point..");
187 std::cout << std::endl;
188 for (i = 0; i < nbline; i++)
194 vpTRACE(
"Display task information ");
199 unsigned int iter = 0;
204 double lambda_av = 0.05;
209 std::cout <<
"---------------------------------------------" << iter << std::endl;
216 for (i = 0; i < nbline; i++) {
231 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
234 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
255 vpTRACE(
"Display task information ");
261 std::cout <<
"Test failed with exception: " << e << std::endl;
269 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 setTheta(double theta)
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
void setThreshold(const double &t)
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setServo(const vpServoType &servo_type)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void track(const vpImage< unsigned char > &Im)
void display(const vpImage< unsigned char > &I, vpColor col)
vpColVector getError() const
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Class that defines a line in the object frame, the camera frame and the image plane....
void setPointsToTrack(const int &n)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void acquire(vpImage< unsigned char > &I)
vpColVector computeControlLaw()
void setSampleStep(const double &s)
static void flush(const vpImage< unsigned char > &I)
void open(vpImage< unsigned char > &I)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
error that can be emited by ViSP classes.
Class that tracks in an image a line moving edges.