66#include <visp3/core/vpConfig.h>
67#include <visp3/core/vpDebug.h>
68#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
70#include <visp3/core/vpDisplay.h>
71#include <visp3/core/vpImage.h>
72#include <visp3/core/vpImagePoint.h>
73#include <visp3/gui/vpDisplayGTK.h>
74#include <visp3/gui/vpDisplayOpenCV.h>
75#include <visp3/gui/vpDisplayX.h>
76#include <visp3/sensor/vp1394TwoGrabber.h>
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpIoTools.h>
80#include <visp3/core/vpMath.h>
81#include <visp3/core/vpPoint.h>
82#include <visp3/robot/vpRobotAfma6.h>
83#include <visp3/visual_features/vpFeatureBuilder.h>
84#include <visp3/visual_features/vpFeaturePoint.h>
85#include <visp3/vs/vpServo.h>
88#include <visp3/core/vpException.h>
89#include <visp3/vs/vpServoDisplay.h>
91#include <visp3/blob/vpDot.h>
101 std::string username;
106 std::string logdirname;
107 logdirname =
"/tmp/" + username;
115 std::cerr << std::endl <<
"ERROR:" << std::endl;
116 std::cerr <<
" Cannot create " << logdirname << std::endl;
120 std::string logfilename;
121 logfilename = logdirname +
"/log.dat";
124 std::ofstream flog(logfilename.c_str());
139 vpDisplayX display(I, 100, 100,
"Current image");
140#elif defined(VISP_HAVE_OPENCV)
142#elif defined(VISP_HAVE_GTK)
150 std::cout << std::endl;
151 std::cout <<
"-------------------------------------------------------" << std::endl;
152 std::cout <<
" Test program for vpServo " << std::endl;
153 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
154 std::cout <<
" Use of the Afma6 robot " << std::endl;
155 std::cout <<
" task : servo a point " << std::endl;
156 std::cout <<
"-------------------------------------------------------" << std::endl;
157 std::cout << std::endl;
162 std::cout <<
"Click on a dot..." << std::endl;
173 robot.getCameraParameters(cam, I);
175 vpTRACE(
"sets the current position of the visual feature ");
180 vpTRACE(
"sets the desired position of the visual feature ");
185 vpTRACE(
"\t we want an eye-in-hand control law");
186 vpTRACE(
"\t articular velocity are computed");
190 vpTRACE(
"Set the position of the end-effector frame in the camera frame");
196 std::cout << cVe << std::endl;
200 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)");
205 vpTRACE(
"\t we want to see a point on a point..");
206 std::cout << std::endl;
212 vpTRACE(
"Display task information ");
217 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
259 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
269 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
279 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
284 flog << (task.
getError()).t() << std::endl;
293 vpTRACE(
"Display task information ");
299 std::cout <<
"Test failed with exception: " << e << std::endl;
307 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 blue
static const vpColor green
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 void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
void track(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 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.
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void get_eJe(vpMatrix &eJe)
@ 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