62 #include <visp/vpConfig.h>
63 #include <visp/vpDebug.h>
65 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
67 #include <visp/vp1394TwoGrabber.h>
68 #include <visp/vpImage.h>
69 #include <visp/vpDisplay.h>
70 #include <visp/vpDisplayX.h>
71 #include <visp/vpDisplayOpenCV.h>
72 #include <visp/vpDisplayGTK.h>
74 #include <visp/vpMath.h>
75 #include <visp/vpHomogeneousMatrix.h>
76 #include <visp/vpFeatureLine.h>
77 #include <visp/vpLine.h>
78 #include <visp/vpMeLine.h>
79 #include <visp/vpServo.h>
80 #include <visp/vpFeatureBuilder.h>
82 #include <visp/vpRobotAfma6.h>
85 #include <visp/vpException.h>
86 #include <visp/vpMatrixException.h>
87 #include <visp/vpServoDisplay.h>
105 vpDisplayX display(I,100,100,
"Current image") ;
106 #elif defined(VISP_HAVE_OPENCV)
108 #elif defined(VISP_HAVE_GTK)
119 std::cout << std::endl ;
120 std::cout <<
"-------------------------------------------------------" << std::endl ;
121 std::cout <<
" Test program for vpServo " <<std::endl ;
122 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
123 std::cout <<
" Simulation " << std::endl ;
124 std::cout <<
" task : servo a line " << std::endl ;
125 std::cout <<
"-------------------------------------------------------" << std::endl ;
126 std::cout << std::endl ;
152 vpTRACE(
"sets the current position of the visual feature ") ;
156 vpTRACE(
"sets the desired position of the visual feature ") ;
168 vpTRACE(
"\t we want an eye-in-hand control law") ;
169 vpTRACE(
"\t robot is controlled in the camera frame") ;
172 vpTRACE(
"\t we want to see a point on a point..") ;
173 std::cout << std::endl ;
180 vpTRACE(
"Display task information " ) ;
186 unsigned int iter=0 ;
191 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
226 vpTRACE(
"Display task information " ) ;
241 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");