63#include <visp3/core/vpConfig.h>
64#include <visp3/core/vpDebug.h>
65#if (defined(VISP_HAVE_AFMA4) && defined(VISP_HAVE_DC1394))
67#include <visp3/core/vpDisplay.h>
68#include <visp3/core/vpImage.h>
69#include <visp3/core/vpImagePoint.h>
70#include <visp3/gui/vpDisplayGTK.h>
71#include <visp3/gui/vpDisplayOpenCV.h>
72#include <visp3/gui/vpDisplayX.h>
73#include <visp3/sensor/vp1394TwoGrabber.h>
75#include <visp3/core/vpHomogeneousMatrix.h>
76#include <visp3/core/vpIoTools.h>
77#include <visp3/core/vpMath.h>
78#include <visp3/core/vpPoint.h>
79#include <visp3/robot/vpRobotAfma4.h>
80#include <visp3/visual_features/vpFeatureBuilder.h>
81#include <visp3/visual_features/vpFeaturePoint.h>
82#include <visp3/vs/vpServo.h>
85#include <visp3/core/vpException.h>
86#include <visp3/vs/vpServoDisplay.h>
88#include <visp3/blob/vpDot.h>
104 std::string logdirname;
105 logdirname =
"/tmp/" + username;
113 std::cerr << std::endl <<
"ERROR:" << std::endl;
114 std::cerr <<
" Cannot create " << logdirname << std::endl;
118 std::string logfilename;
119 logfilename = logdirname +
"/log.dat";
122 std::ofstream flog(logfilename.c_str());
137 vpDisplayX display(I, 100, 100,
"Current image");
138#elif defined(VISP_HAVE_OPENCV)
140#elif defined(VISP_HAVE_GTK)
147 std::cout << std::endl;
148 std::cout <<
"-------------------------------------------------------" << std::endl;
149 std::cout <<
" Test program for vpServo " << std::endl;
150 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
151 std::cout <<
" Simulation " << std::endl;
152 std::cout <<
" task : servo a point " << std::endl;
153 std::cout <<
"-------------------------------------------------------" << std::endl;
154 std::cout << std::endl;
158 std::cout <<
"Click on a dot..." << std::endl;
169 vpTRACE(
"sets the current position of the visual feature ");
173 vpTRACE(
"sets the desired position of the visual feature ");
178 vpTRACE(
"\t we want an eye-in-hand control law");
179 vpTRACE(
"\t robot is controlled in the camera frame");
182 vpTRACE(
"\t we want to see a point on a point..");
183 std::cout << std::endl;
189 vpTRACE(
"Display task information ");
194 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
227 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
237 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
247 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
252 flog << task.
getError() << std::endl;
265 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
273 std::cout <<
"You do not have an afma4 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
@ vpVIDEO_MODE_640x480_MONO8
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)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Control of Irisa's cylindrical robot named Afma4.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ 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 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)