55 #include <visp3/core/vpConfig.h> 56 #include <visp3/core/vpDebug.h> 60 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 62 #include <visp3/sensor/vp1394TwoGrabber.h> 63 #include <visp3/core/vpImage.h> 64 #include <visp3/io/vpImageIo.h> 65 #include <visp3/core/vpDisplay.h> 66 #include <visp3/gui/vpDisplayX.h> 67 #include <visp3/gui/vpDisplayOpenCV.h> 68 #include <visp3/gui/vpDisplayGTK.h> 70 #include <visp3/core/vpMath.h> 71 #include <visp3/core/vpHomogeneousMatrix.h> 72 #include <visp3/visual_features/vpFeatureLine.h> 73 #include <visp3/me/vpMeLine.h> 74 #include <visp3/core/vpCylinder.h> 75 #include <visp3/vs/vpServo.h> 76 #include <visp3/visual_features/vpFeatureBuilder.h> 78 #include <visp3/robot/vpRobotAfma6.h> 81 #include <visp3/core/vpException.h> 82 #include <visp3/vs/vpServoDisplay.h> 99 vpDisplayX display(I,100,100,
"Current image") ;
100 #elif defined(VISP_HAVE_OPENCV) 102 #elif defined(VISP_HAVE_GTK) 110 std::cout << std::endl ;
111 std::cout <<
"-------------------------------------------------------" << std::endl ;
112 std::cout <<
" Test program for vpServo " <<std::endl ;
113 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
114 std::cout <<
" Simulation " << std::endl ;
115 std::cout <<
" task : servo a point " << std::endl ;
116 std::cout <<
"-------------------------------------------------------" << std::endl ;
117 std::cout << std::endl ;
131 for (i=0 ; i < nbline ; i++)
147 vpTRACE(
"sets the current position of the visual feature ") ;
149 for (i=0 ; i < nbline ; i++)
152 vpTRACE(
"sets the desired position of the visual feature ") ;
169 vpTRACE(
"\t we want an eye-in-hand control law") ;
170 vpTRACE(
"\t robot is controlled in the camera frame") ;
174 vpTRACE(
"\t we want to see a two lines on two lines..") ;
175 std::cout << std::endl ;
176 for (i=0 ; i < nbline ; i++)
183 vpTRACE(
"Display task information " ) ;
189 unsigned int iter=0 ;
193 double lambda_av =0.05;
198 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
205 for (i=0 ; i < nbline ; i++)
211 vpTRACE(
"%f %f ",line[i].getRho(), line[i].getTheta()) ;
222 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
226 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
248 vpTRACE(
"Display task information " ) ;
263 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.
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)