52 #include <visp/vpConfig.h>
53 #include <visp/vpDebug.h>
57 #include <visp/vpImage.h>
58 #include <visp/vpCameraParameters.h>
59 #include <visp/vpTime.h>
60 #include <visp/vpImage.h>
61 #include <visp/vpImageConvert.h>
62 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpMath.h>
65 #include <visp/vpHomogeneousMatrix.h>
66 #include <visp/vpPose.h>
67 #include <visp/vpFeaturePoint.h>
68 #include <visp/vpServo.h>
69 #include <visp/vpServoDisplay.h>
70 #include <visp/vpRobotCamera.h>
71 #include <visp/vpFeatureBuilder.h>
72 #include <visp/vpIoTools.h>
91 unsigned int height = 360 ;
92 unsigned int width = 480 ;
97 disp.
init(I,100,100,
"Simulation display");
113 for (
int i = 0 ; i < 4 ; i++)
114 point[i].project(cMo_d) ;
118 for (
int i = 0 ; i < 4 ; i++)
126 for (
int i = 0 ; i < 4 ; i++)
127 point[i].project(cMo) ;
131 for (
int i = 0 ; i < 4 ; i++)
152 for (
int i = 0 ; i < 4 ; i++)
170 for (
int i = 0 ; i < 4 ; i++)
204 {
vpTRACE(
"You should install GTK") ;
Definition of the vpMatrix class.
static void display(vpServo &s, const vpCameraParameters &cam, vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void setPosition(const vpHomogeneousMatrix &cMw)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
void setLambda(double _lambda)
set the gain lambda
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static double measureTimeMs()
static int wait(double t0, double t)
void set_cVe(vpVelocityTwistMatrix &_cVe)
static void flush(const vpImage< unsigned char > &I)
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
void kill()
destruction (memory deallocation if required)
vpColVector computeControlLaw()
compute the desired control law
Class that defines the simplest robot: a free flying camera.
static void display(const vpImage< unsigned char > &I)
void set_eJe(vpMatrix &_eJe)
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
static double rad(double deg)
void getPosition(vpHomogeneousMatrix &cMw) const
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void get_eJe(vpMatrix &eJe)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class required to compute the visual servoing control law descbribed in and .
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...