60#include <visp3/core/vpConfig.h>
61#include <visp3/core/vpDebug.h>
62#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
67#if (defined(VISP_HAVE_PTU46) & defined(VISP_HAVE_DC1394))
69#ifdef VISP_HAVE_PTHREAD
73#include <visp3/core/vpDisplay.h>
74#include <visp3/core/vpImage.h>
75#include <visp3/gui/vpDisplayX.h>
76#include <visp3/sensor/vp1394TwoGrabber.h>
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpMath.h>
80#include <visp3/core/vpPoint.h>
81#include <visp3/visual_features/vpFeatureBuilder.h>
82#include <visp3/visual_features/vpFeaturePoint.h>
83#include <visp3/vs/vpServo.h>
85#include <visp3/robot/vpRobotPtu46.h>
88#include <visp3/core/vpException.h>
89#include <visp3/vs/vpServoDisplay.h>
91#include <visp3/blob/vpDot2.h>
93#ifdef VISP_HAVE_PTHREAD
94pthread_mutex_t mutexEndLoop = PTHREAD_MUTEX_INITIALIZER;
97void signalCtrC(
int signumber)
100#ifdef VISP_HAVE_PTHREAD
101 pthread_mutex_unlock(&mutexEndLoop);
109 std::cout << std::endl;
110 std::cout <<
"-------------------------------------------------------" << std::endl;
111 std::cout <<
" Test program for vpServo " << std::endl;
112 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
113 std::cout <<
" Simulation " << std::endl;
114 std::cout <<
" task : servo a point " << std::endl;
115 std::cout <<
"-------------------------------------------------------" << std::endl;
116 std::cout << std::endl;
120#ifdef VISP_HAVE_PTHREAD
121 pthread_mutex_lock(&mutexEndLoop);
123 signal(SIGINT, &signalCtrC);
146 vpDisplayX display(I, 100, 100,
"testDisplayX.cpp ");
177 vpTRACE(
"sets the current position of the visual feature ");
182 vpTRACE(
"sets the desired position of the visual feature ");
187 vpTRACE(
"\t we want an eye-in-hand control law");
188 vpTRACE(
"\t articular velocity are computed");
192 vpTRACE(
"Set the position of the end-effector frame in the camera frame");
198 std::cout << cVe << std::endl;
202 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)");
207 vpTRACE(
"\t we want to see a point on a point..");
208 std::cout << std::endl;
214 vpTRACE(
"Display task information ");
219 unsigned int iter = 0;
221#ifdef VISP_HAVE_PTHREAD
222 while (0 != pthread_mutex_trylock(&mutexEndLoop))
227 std::cout <<
"---------------------------------------------" << iter << std::endl;
256 vpTRACE(
"Display task information ");
260 std::cout <<
"Sorry PtU46 not available. Got exception: " << e << std::endl;
269 std::cout <<
"You do not have an PTU46 PT 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 open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
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)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setCog(const vpImagePoint &ip)
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
Interface for the Directed Perception ptu-46 pan, tilt head .
@ STATE_POSITION_CONTROL
Initialize the position controller.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
vpVelocityTwistMatrix get_cVe() const