65#include <visp3/core/vpConfig.h>
66#include <visp3/core/vpDebug.h>
67#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
69#include <visp3/core/vpDisplay.h>
70#include <visp3/core/vpImage.h>
71#include <visp3/core/vpImagePoint.h>
72#include <visp3/gui/vpDisplayGTK.h>
73#include <visp3/gui/vpDisplayOpenCV.h>
74#include <visp3/gui/vpDisplayX.h>
75#include <visp3/sensor/vp1394TwoGrabber.h>
77#include <visp3/core/vpHomogeneousMatrix.h>
78#include <visp3/core/vpIoTools.h>
79#include <visp3/core/vpMath.h>
80#include <visp3/core/vpPoint.h>
81#include <visp3/robot/vpRobotAfma6.h>
82#include <visp3/visual_features/vpFeatureBuilder.h>
83#include <visp3/visual_features/vpFeaturePoint.h>
84#include <visp3/vs/vpServo.h>
87#include <visp3/core/vpException.h>
88#include <visp3/vs/vpServoDisplay.h>
90#include <visp3/blob/vpDot.h>
100 std::string username;
105 std::string logdirname;
106 logdirname =
"/tmp/" + username;
114 std::cerr << std::endl <<
"ERROR:" << std::endl;
115 std::cerr <<
" Cannot create " << logdirname << std::endl;
119 std::string logfilename;
120 logfilename = logdirname +
"/log.dat";
123 std::ofstream flog(logfilename.c_str());
146 vpDisplayX display(I, 100, 100,
"Current image");
147#elif defined(VISP_HAVE_OPENCV)
149#elif defined(VISP_HAVE_GTK)
156 std::cout << std::endl;
157 std::cout <<
"-------------------------------------------------------" << std::endl;
158 std::cout <<
" Test program for vpServo " << std::endl;
159 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
160 std::cout <<
" Use of the Afma6 robot " << std::endl;
161 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
162 std::cout <<
"-------------------------------------------------------" << std::endl;
163 std::cout << std::endl;
168 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
170 for (i = 0; i < 4; i++) {
182 robot.getCameraParameters(cam, I);
186 for (i = 0; i < 4; i++)
198 std::cout << std::endl;
199 for (i = 0; i < 4; i++)
229 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
239 for (i = 0; i < 4; i++) {
250 vpTRACE(
"Error detected while tracking visual features");
256 for (i = 0; i < 4; i++)
279 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
289 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
299 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
304 flog << (task.
getError()).t() << std::endl;
313 vpTRACE(
"Display task information ");
320 std::cout <<
"Test failed with exception: " << e << std::endl;
328 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static void display(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)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
void track(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void get_eJe(vpMatrix &eJe)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
vpVelocityTwistMatrix get_cVe() const