57#include <visp3/core/vpConfig.h>
58#include <visp3/core/vpDebug.h>
59#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
61#include <visp3/core/vpDisplay.h>
62#include <visp3/core/vpImage.h>
63#include <visp3/gui/vpDisplayGTK.h>
64#include <visp3/gui/vpDisplayOpenCV.h>
65#include <visp3/gui/vpDisplayX.h>
66#include <visp3/io/vpImageIo.h>
67#include <visp3/sensor/vp1394TwoGrabber.h>
69#include <visp3/core/vpCylinder.h>
70#include <visp3/core/vpHomogeneousMatrix.h>
71#include <visp3/core/vpMath.h>
72#include <visp3/me/vpMeLine.h>
73#include <visp3/visual_features/vpFeatureBuilder.h>
74#include <visp3/visual_features/vpFeatureLine.h>
75#include <visp3/vs/vpServo.h>
77#include <visp3/robot/vpRobotAfma6.h>
80#include <visp3/core/vpException.h>
81#include <visp3/vs/vpServoDisplay.h>
96 vpDisplayX display(I, 100, 100,
"Current image");
97#elif defined(VISP_HAVE_OPENCV)
99#elif defined(VISP_HAVE_GTK)
107 std::cout << std::endl;
108 std::cout <<
"-------------------------------------------------------" << std::endl;
109 std::cout <<
" Test program for vpServo " << std::endl;
110 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
111 std::cout <<
" Simulation " << std::endl;
112 std::cout <<
" task : servo a point " << std::endl;
113 std::cout <<
"-------------------------------------------------------" << std::endl;
114 std::cout << std::endl;
127 for (i = 0; i < nbline; i++) {
140 robot.getCameraParameters(cam, I);
142 vpTRACE(
"sets the current position of the visual feature ");
144 for (i = 0; i < nbline; i++)
147 vpTRACE(
"sets the desired position of the visual feature ");
166 vpTRACE(
"\t we want an eye-in-hand control law");
167 vpTRACE(
"\t robot is controlled in the camera frame");
171 vpTRACE(
"\t we want to see a two lines on two lines..");
172 std::cout << std::endl;
173 for (i = 0; i < nbline; i++)
179 vpTRACE(
"Display task information ");
184 unsigned int iter = 0;
188 double lambda_av = 0.05;
192 std::cout <<
"---------------------------------------------" << iter << std::endl;
199 for (i = 0; i < nbline; i++) {
204 vpTRACE(
"%f %f ", line[i].getRho(), line[i].getTheta());
215 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
218 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
239 vpTRACE(
"Display task information ");
244 std::cout <<
"Test failed with exception: " << e << std::endl;
252 std::cout <<
"You do not have an afma6 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 setVideoMode(vp1394TwoVideoModeType videomode)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor green
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
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)
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void setRhoTheta(double rho, double theta)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Class that tracks in an image a line moving edges.
void display(const vpImage< unsigned char > &I, vpColor col)
void track(const vpImage< unsigned char > &Im)
void initTracking(const vpImage< unsigned char > &I)
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
void setSampleStep(const double &s)
void setRange(const unsigned int &r)
void setPointsToTrack(const int &n)
void setThreshold(const double &t)
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)