60 #include <visp3/core/vpConfig.h>
61 #include <visp3/core/vpDebug.h>
62 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
69 #if (defined(VISP_HAVE_PTU46) & defined (VISP_HAVE_DC1394) )
71 #ifdef VISP_HAVE_PTHREAD
75 #include <visp3/sensor/vp1394TwoGrabber.h>
76 #include <visp3/core/vpImage.h>
77 #include <visp3/core/vpDisplay.h>
78 #include <visp3/gui/vpDisplayX.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>
87 #include <visp3/robot/vpRobotPtu46.h>
90 #include <visp3/core/vpException.h>
91 #include <visp3/vs/vpServoDisplay.h>
93 #include <visp3/blob/vpDot2.h>
96 #ifdef VISP_HAVE_PTHREAD
97 pthread_mutex_t mutexEndLoop = PTHREAD_MUTEX_INITIALIZER;
100 void signalCtrC(
int signumber )
103 #ifdef VISP_HAVE_PTHREAD
104 pthread_mutex_unlock( &mutexEndLoop );
113 std::cout << std::endl ;
114 std::cout <<
"-------------------------------------------------------" << std::endl ;
115 std::cout <<
" Test program for vpServo " <<std::endl ;
116 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
117 std::cout <<
" Simulation " << std::endl ;
118 std::cout <<
" task : servo a point " << std::endl ;
119 std::cout <<
"-------------------------------------------------------" << std::endl ;
120 std::cout << std::endl ;
124 #ifdef VISP_HAVE_PTHREAD
125 pthread_mutex_lock( &mutexEndLoop );
127 signal( SIGINT,&signalCtrC );
152 vpDisplayX display(I,100,100,
"testDisplayX.cpp ") ;
187 vpTRACE(
"sets the current position of the visual feature ") ;
192 vpTRACE(
"sets the desired position of the visual feature ") ;
197 vpTRACE(
"\t we want an eye-in-hand control law") ;
198 vpTRACE(
"\t articular velocity are computed") ;
203 vpTRACE(
"Set the position of the camera in the end-effector frame ") ;
209 std::cout << cVe <<std::endl ;
213 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)") ;
219 vpTRACE(
"\t we want to see a point on a point..") ;
220 std::cout << std::endl ;
227 vpTRACE(
"Display task information " ) ;
233 unsigned int iter=0 ;
235 #ifdef VISP_HAVE_PTHREAD
236 while( 0 != pthread_mutex_trylock( &mutexEndLoop ) )
241 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
271 vpTRACE(
"Display task information " ) ;
283 vpERROR_TRACE(
"You don't have a ptu-46 head connected to your computer ",
284 "or 1394 framegrabbing capabilities...");
Implementation of a matrix and operations on matrices.
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot)
void set_eJe(const vpMatrix &eJe_)
void setCog(const vpImagePoint &ip)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Initialize the position controller.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void acquire(vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
Interface for the Directed Perception ptu-46 pan, tilt head .
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of a velocity twist matrix and operations on such kind of matrices.
void get_eJe(vpMatrix &_eJe)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void buildFrom(const double x, const double y, const double Z)
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
virtual bool getClick(bool blocking=true)=0
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)
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)