63 #include <visp3/core/vpConfig.h>
64 #include <visp3/core/vpDebug.h>
70 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
72 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/core/vpImage.h>
74 #include <visp3/core/vpImagePoint.h>
75 #include <visp3/core/vpDisplay.h>
76 #include <visp3/gui/vpDisplayX.h>
77 #include <visp3/gui/vpDisplayOpenCV.h>
78 #include <visp3/gui/vpDisplayGTK.h>
80 #include <visp3/core/vpMath.h>
81 #include <visp3/core/vpHomogeneousMatrix.h>
82 #include <visp3/visual_features/vpFeaturePoint.h>
83 #include <visp3/core/vpPoint.h>
84 #include <visp3/vs/vpServo.h>
85 #include <visp3/visual_features/vpFeatureBuilder.h>
86 #include <visp3/robot/vpRobotAfma6.h>
87 #include <visp3/core/vpIoTools.h>
90 #include <visp3/core/vpException.h>
91 #include <visp3/vs/vpServoDisplay.h>
93 #include <visp3/blob/vpDot.h>
104 std::string username;
109 std::string logdirname;
110 logdirname =
"/tmp/" + username;
119 std::cerr << std::endl
120 <<
"ERROR:" << std::endl;
121 std::cerr <<
" Cannot create " << logdirname << std::endl;
125 std::string logfilename;
126 logfilename = logdirname +
"/log.dat";
129 std::ofstream flog(logfilename.c_str());
144 vpDisplayX display(I,100,100,
"Current image") ;
145 #elif defined(VISP_HAVE_OPENCV)
147 #elif defined(VISP_HAVE_GTK)
155 std::cout << std::endl ;
156 std::cout <<
"-------------------------------------------------------" << std::endl ;
157 std::cout <<
" Test program for vpServo " <<std::endl ;
158 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
159 std::cout <<
" Use of the Afma6 robot " << std::endl ;
160 std::cout <<
" task : servo a point " << std::endl ;
161 std::cout <<
"-------------------------------------------------------" << std::endl ;
162 std::cout << std::endl ;
168 std::cout <<
"Click on a dot..." << std::endl;
181 vpTRACE(
"sets the current position of the visual feature ") ;
186 vpTRACE(
"sets the desired position of the visual feature ") ;
191 vpTRACE(
"\t we want an eye-in-hand control law") ;
192 vpTRACE(
"\t articular velocity are computed") ;
197 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
203 std::cout << cVe <<std::endl ;
207 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
213 vpTRACE(
"\t we want to see a point on a point..") ;
214 std::cout << std::endl ;
220 vpTRACE(
"Display task information " ) ;
225 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
267 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
268 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
278 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
279 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
289 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
290 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
295 flog << ( task.
getError() ).t() << std::endl;
303 vpTRACE(
"Display task information " ) ;
321 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of a matrix and operations on matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void get_eJe(vpMatrix &_eJe)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void track(const vpImage< unsigned char > &I)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
void open(vpImage< unsigned char > &I)
vpImagePoint getCog() const
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void buildFrom(const double x, const double y, const double Z)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
void initTracking(const vpImage< unsigned char > &I)
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)
static const vpColor blue
void get_cVe(vpVelocityTwistMatrix &_cVe) const