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/io/vpImageIo.h>
76#include <visp3/sensor/vp1394TwoGrabber.h>
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpLine.h>
80#include <visp3/core/vpMath.h>
81#include <visp3/vision/vpPose.h>
82#include <visp3/visual_features/vpFeatureBuilder.h>
83#include <visp3/visual_features/vpFeatureDepth.h>
84#include <visp3/visual_features/vpFeatureLine.h>
85#include <visp3/visual_features/vpFeaturePoint.h>
86#include <visp3/visual_features/vpGenericFeature.h>
87#include <visp3/vs/vpServo.h>
89#include <visp3/robot/vpRobotAfma6.h>
92#include <visp3/core/vpException.h>
93#include <visp3/vs/vpServoDisplay.h>
95#include <visp3/blob/vpDot2.h>
96#include <visp3/core/vpHomogeneousMatrix.h>
97#include <visp3/core/vpPoint.h>
112 vpDisplayX display(I, 100, 100,
"Current image");
113#elif defined(VISP_HAVE_OPENCV)
115#elif defined(VISP_HAVE_GTK)
129 robot.getCameraParameters(cam, I);
131 std::cout << std::endl;
132 std::cout <<
"-------------------------------------------------------" << std::endl;
133 std::cout <<
" Test program for vpServo " << std::endl;
134 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
135 std::cout <<
" Simulation " << std::endl;
136 std::cout <<
" task : servo a line " << std::endl;
137 std::cout <<
"-------------------------------------------------------" << std::endl;
138 std::cout << std::endl;
143 vpTRACE(
"sets the desired position of the visual feature ");
170 vpTRACE(
"Initialization of the tracking");
182 for (i = 0; i < nbline; i++) {
192 for (i = 0; i < nbline; i++) {
215 for (i = 0; i < nbline; i++) {
222 vpTRACE(
"sets the current position of the visual feature ");
227 double xc = (point[0].
get_x() + point[2].
get_x()) / 2;
228 double yc = (point[0].
get_y() + point[2].
get_y()) / 2;
248 vpTRACE(
"\t we want an eye-in-hand control law");
249 vpTRACE(
"\t robot is controlled in the camera frame");
253 vpTRACE(
"\t we want to see a point on a point..");
254 std::cout << std::endl;
262 vpTRACE(
"Display task information ");
267 unsigned int iter = 0;
271 double lambda_av = 0.05;
276 std::cout <<
"---------------------------------------------" << iter << std::endl;
285 for (i = 0; i < nbline; i++) {
309 xc = (point[0].
get_x() + point[2].
get_x()) / 2;
310 yc = (point[0].
get_y() + point[2].
get_y()) / 2;
319 for (i = 0; i < nbpoint; i++)
332 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
335 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
367 vpTRACE(
"Display task information ");
372 std::cout <<
"Test failed with exception: " << e << std::endl;
380 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 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 bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(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 3D point visual feature which is composed by one parameters that is that defin...
void buildFrom(double x, double y, double Z, double LogZoverZstar)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double rad(double deg)
Class that tracks in an image a line moving edges.
void display(const vpImage< unsigned char > &I, vpColor col)
void track(const vpImage< unsigned char > &Im)
static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip)
void initTracking(const vpImage< unsigned char > &I)
void setSampleStep(const double &s)
void setRange(const unsigned int &r)
void setPointsToTrack(const int &n)
void setThreshold(const double &t)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void set_x(double x)
Set the point x coordinate in the image plane.
double get_y() const
Get the point y coordinate in the image plane.
double get_x() const
Get the point x coordinate in the image plane.
double get_Z() const
Get the point cZ coordinate in the camera frame.
void setWorldCoordinates(double oX, double oY, double oZ)
void set_y(double y)
Set the point y coordinate in the image plane.
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
void addPoint(const vpPoint &P)
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)