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
void setPointsToTrack(const int &n)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setSampleStep(const double &s)
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 > &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 vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
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.
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+ library version 1.2.
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)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
virtual bool getClick(bool blocking=true)=0
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)