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Visual Servoing Platform
version 3.3.0
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61 #include <visp3/core/vpConfig.h>
62 #include <visp3/core/vpDebug.h>
63 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/gui/vpDisplayGTK.h>
68 #include <visp3/gui/vpDisplayOpenCV.h>
69 #include <visp3/gui/vpDisplayX.h>
70 #include <visp3/io/vpImageIo.h>
71 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/core/vpCylinder.h>
74 #include <visp3/core/vpHomogeneousMatrix.h>
75 #include <visp3/core/vpMath.h>
76 #include <visp3/me/vpMeLine.h>
77 #include <visp3/visual_features/vpFeatureBuilder.h>
78 #include <visp3/visual_features/vpFeatureLine.h>
79 #include <visp3/vs/vpServo.h>
81 #include <visp3/robot/vpRobotAfma6.h>
84 #include <visp3/core/vpException.h>
85 #include <visp3/vs/vpServoDisplay.h>
100 vpDisplayX display(I, 100, 100,
"Current image");
101 #elif defined(VISP_HAVE_OPENCV)
103 #elif defined(VISP_HAVE_GTK)
112 std::cout << std::endl;
113 std::cout <<
"-------------------------------------------------------" << std::endl;
114 std::cout <<
" Test program for vpServo " << std::endl;
115 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
116 std::cout <<
" Simulation " << std::endl;
117 std::cout <<
" task : servo a point " << std::endl;
118 std::cout <<
"-------------------------------------------------------" << std::endl;
119 std::cout << std::endl;
132 for (i = 0; i < nbline; i++) {
145 robot.getCameraParameters(cam, I);
147 vpTRACE(
"sets the current position of the visual feature ");
149 for (i = 0; i < nbline; i++)
152 vpTRACE(
"sets the desired position of the visual feature ");
171 vpTRACE(
"\t we want an eye-in-hand control law");
172 vpTRACE(
"\t robot is controlled in the camera frame");
176 vpTRACE(
"\t we want to see a point on a point..");
177 std::cout << std::endl;
178 for (i = 0; i < nbline; i++)
184 vpTRACE(
"Display task information ");
189 unsigned int iter = 0;
193 double lambda_av = 0.05;
199 while (erreur > 0.00001) {
200 std::cout <<
"---------------------------------------------" << iter << std::endl;
207 for (i = 0; i < nbline; i++) {
222 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
225 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
242 erreur = (task.
getError()).sumSquare();
259 double vitesse = 0.02;
260 unsigned int tempo = 1200;
263 std::cout <<
"---------------------------------------------" << iter << std::endl;
270 for (i = 0; i < nbline; i++) {
285 if (iter % tempo < 400 /*&& iter%tempo >= 0*/) {
287 e1[0] = fabs(vitesse);
289 rapport = vitesse / proj_e1[0];
297 if (iter % tempo < 600 && iter % tempo >= 400) {
299 e2[1] = fabs(vitesse);
301 rapport = vitesse / proj_e2[1];
306 if (iter % tempo < 1000 && iter % tempo >= 600) {
308 e1[0] = -fabs(vitesse);
310 rapport = -vitesse / proj_e1[0];
315 if (iter % tempo < 1200 && iter % tempo >= 1000) {
317 e2[1] = -fabs(vitesse);
319 rapport = -vitesse / proj_e2[1];
336 vpTRACE(
"Display task information ");
342 std::cout <<
"Test failed with exception: " << e << std::endl;
350 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I)
void setRhoTheta(double rho, double theta)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
@ vpVIDEO_MODE_640x480_MONO8
void setThreshold(const double &t)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setServo(const vpServoType &servo_type)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Class that defines what is a cylinder.
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void track(const vpImage< unsigned char > &Im)
void display(const vpImage< unsigned char > &I, vpColor col)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
vpColVector getError() const
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setPointsToTrack(const int &n)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void acquire(vpImage< unsigned char > &I)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static const vpColor green
vpColVector computeControlLaw()
void setSampleStep(const double &s)
static void flush(const vpImage< unsigned char > &I)
void open(vpImage< unsigned char > &I)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
error that can be emited by ViSP classes.
Class that tracks in an image a line moving edges.