51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpDebug.h>
60 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/core/vpHomogeneousMatrix.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/core/vpPoint.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/gui/vpDisplayOpenCV.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/robot/vpRobotViper850.h>
72 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/visual_features/vpFeatureBuilder.h>
74 #include <visp3/visual_features/vpFeaturePoint.h>
75 #include <visp3/vs/vpServo.h>
78 #include <visp3/core/vpException.h>
79 #include <visp3/vs/vpServoDisplay.h>
81 #include <visp3/blob/vpDot2.h>
96 std::string logdirname;
97 logdirname =
"/tmp/" + username;
105 std::cerr << std::endl <<
"ERROR:" << std::endl;
106 std::cerr <<
" Cannot create " << logdirname << std::endl;
110 std::string logfilename;
111 logfilename = logdirname +
"/log.dat";
114 std::ofstream flog(logfilename.c_str());
132 vpDisplayX display(I, 800, 100,
"Current image");
133 #elif defined(VISP_HAVE_OPENCV)
135 #elif defined(VISP_HAVE_GTK)
143 std::cout << std::endl;
144 std::cout <<
"-------------------------------------------------------" << std::endl;
145 std::cout <<
" Test program for vpServo " << std::endl;
146 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
147 std::cout <<
" Use of the Afma6 robot " << std::endl;
148 std::cout <<
" task : servo a point " << std::endl;
149 std::cout <<
"-------------------------------------------------------" << std::endl;
150 std::cout << std::endl;
154 std::cout <<
"Click on a dot..." << std::endl;
162 robot.getCameraParameters(cam, I);
164 vpTRACE(
"sets the current position of the visual feature ");
169 vpTRACE(
"sets the desired position of the visual feature ");
174 vpTRACE(
"\t we want an eye-in-hand control law");
175 vpTRACE(
"\t articular velocity are computed");
179 vpTRACE(
"Set the position of the end-effector frame in the camera frame");
185 std::cout << cVe << std::endl;
189 vpTRACE(
"Set the Jacobian (expressed in the end-effector frame)");
194 vpTRACE(
"\t we want to see a point on a point..");
195 std::cout << std::endl;
201 vpTRACE(
"Display task information ");
206 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
246 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
256 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
266 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
271 flog << (task.
getError()).t() << std::endl;
281 std::cout <<
"Display task information: " << std::endl;
287 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
295 std::cout <<
"You do not have an Viper 850 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 blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emited by ViSP classes.
const char * getMessage() const
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 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