Visual Servoing Platform  version 3.3.0
servoFrankaPBVS.cpp

Example of eye-in-hand image-based control law. We control here a real robot, the Franka Emika Panda robot (arm with 7 degrees of freedom). The velocity is computed in the camera frame. The inverse jacobian that converts cartesian velocities in joint velocities is implemented in the robot low level controller. Visual features correspond to the 3D pose of the target (an AprilTag) in the camera frame.

The device used to acquire images is a Realsense SR300 device.

Camera extrinsic (eMc) parameters are set by default to a value that will not match Your configuration. Use –eMc command line option to read the values from a file. This file could be obtained following extrinsic camera calibration tutorial: https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-calibration-extrinsic.html

Camera intrinsic parameters are retrieved from the Realsense SDK.

The target is an AprilTag that is by default 12cm large. To print your own tag, see https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-apriltag.html You can specify the size of your tag using –tag_size command line option.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Data acquisition with RealSense RGB-D sensor and Franka robot.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/robot/vpRobotFranka.h>
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpFeatureTranslation.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/gui/vpPlot.h>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA)
void display_point_trajectory(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &vip,
std::vector<vpImagePoint> *traj_vip)
{
for (size_t i = 0; i < vip.size(); i++) {
if (traj_vip[i].size()) {
// Add the point only if distance with the previous > 1 pixel
if (vpImagePoint::distance(vip[i], traj_vip[i].back()) > 1.) {
traj_vip[i].push_back(vip[i]);
}
}
else {
traj_vip[i].push_back(vip[i]);
}
}
for (size_t i = 0; i < vip.size(); i++) {
for (size_t j = 1; j < traj_vip[i].size(); j++) {
vpDisplay::displayLine(I, traj_vip[i][j - 1], traj_vip[i][j], vpColor::green, 2);
}
}
}
int main(int argc, char **argv)
{
double opt_tagSize = 0.120;
std::string opt_robot_ip = "192.168.1.1";
std::string opt_eMc_filename = "";
bool display_tag = true;
int opt_quad_decimate = 2;
bool opt_verbose = false;
bool opt_plot = false;
bool opt_adaptive_gain = false;
bool opt_task_sequencing = false;
double convergence_threshold_t = 0.0005, convergence_threshold_tu = vpMath::rad(0.5);
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
opt_tagSize = std::stod(argv[i + 1]);
}
else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
opt_robot_ip = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--eMc" && i + 1 < argc) {
opt_eMc_filename = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--verbose") {
opt_verbose = true;
}
else if (std::string(argv[i]) == "--plot") {
opt_plot = true;
}
else if (std::string(argv[i]) == "--adaptive_gain") {
opt_adaptive_gain = true;
}
else if (std::string(argv[i]) == "--task_sequencing") {
opt_task_sequencing = true;
}
else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
opt_quad_decimate = std::stoi(argv[i + 1]);
}
else if (std::string(argv[i]) == "--no-convergence-threshold") {
convergence_threshold_t = 0.;
convergence_threshold_tu = 0.;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default " << opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
<< "[--quad_decimate <decimation; default " << opt_quad_decimate << ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
robot.connect(opt_robot_ip);
rs2::config config;
unsigned int width = 640, height = 480;
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
rs.open(config);
// Get camera extrinsics
// Set camera extrinsics default values
ePc[0] = 0.0337731; ePc[1] = -0.00535012; ePc[2] = -0.0523339;
ePc[3] = -0.247294; ePc[4] = -0.306729; ePc[5] = 1.53055;
// If provided, read camera extrinsics from --eMc <file>
if (!opt_eMc_filename.empty()) {
ePc.loadYAML(opt_eMc_filename, ePc);
}
else {
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values." << "\n";
}
std::cout << "eMc:\n" << eMc << "\n";
// Get camera intrinsics
std::cout << "cam:\n" << cam << "\n";
vpImage<unsigned char> I(height, width);
#if defined(VISP_HAVE_X11)
vpDisplayX dc(I, 10, 10, "Color image");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI dc(I, 10, 10, "Color image");
#endif
//vpDetectorAprilTag::vpPoseEstimationMethod poseEstimationMethod = vpDetectorAprilTag::BEST_RESIDUAL_VIRTUAL_VS;
vpDetectorAprilTag detector(tagFamily);
detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
detector.setDisplayTag(display_tag);
detector.setAprilTagQuadDecimate(opt_quad_decimate);
// Servo
vpHomogeneousMatrix cdMc, cMo, oMo;
// Desired pose to reach
vpHomogeneousMatrix cdMo( vpTranslationVector(0, 0, opt_tagSize * 3), // 3 times tag with along camera z axis
vpRotationMatrix( {1, 0, 0, 0, -1, 0, 0, 0, -1} ) );
cdMc = cdMo * cMo.inverse();
t.buildFrom(cdMc);
tu.buildFrom(cdMc);
vpServo task;
task.addFeature(t, td);
task.addFeature(tu, tud);
if (opt_adaptive_gain) {
vpAdaptiveGain lambda(1.5, 0.4, 30); // lambda(0)=4, lambda(oo)=0.4 and lambda'(0)=30
task.setLambda(lambda);
}
else {
task.setLambda(0.5);
}
vpPlot *plotter = nullptr;
int iter_plot = 0;
if (opt_plot) {
plotter = new vpPlot(2, static_cast<int>(250 * 2), 500, static_cast<int>(I.getWidth()) + 80, 10, "Real time curves plotter");
plotter->setTitle(0, "Visual features error");
plotter->setTitle(1, "Camera velocities");
plotter->initGraph(0, 6);
plotter->initGraph(1, 6);
plotter->setLegend(0, 0, "error_feat_tx");
plotter->setLegend(0, 1, "error_feat_ty");
plotter->setLegend(0, 2, "error_feat_tz");
plotter->setLegend(0, 3, "error_feat_theta_ux");
plotter->setLegend(0, 4, "error_feat_theta_uy");
plotter->setLegend(0, 5, "error_feat_theta_uz");
plotter->setLegend(1, 0, "vc_x");
plotter->setLegend(1, 1, "vc_y");
plotter->setLegend(1, 2, "vc_z");
plotter->setLegend(1, 3, "wc_x");
plotter->setLegend(1, 4, "wc_y");
plotter->setLegend(1, 5, "wc_z");
}
bool final_quit = false;
bool has_converged = false;
bool send_velocities = false;
bool servo_started = false;
std::vector<vpImagePoint> *traj_vip = nullptr; // To memorize point trajectory
static double t_init_servo = vpTime::measureTimeMs();
robot.set_eMc(eMc); // Set location of the camera wrt end-effector frame
while (!has_converged && !final_quit) {
double t_start = vpTime::measureTimeMs();
rs.acquire(I);
std::vector<vpHomogeneousMatrix> cMo_vec;
detector.detect(I, opt_tagSize, cam, cMo_vec);
std::stringstream ss;
ss << "Left click to " << (send_velocities ? "stop the robot" : "servo the robot") << ", right click to quit.";
vpDisplay::displayText(I, 20, 20, ss.str(), vpColor::red);
vpColVector v_c(6);
// Only one tag is detected
if (cMo_vec.size() == 1) {
cMo = cMo_vec[0];
static bool first_time = true;
if (first_time) {
// Introduce security wrt tag positionning in order to avoid PI rotation
std::vector<vpHomogeneousMatrix> v_oMo(2), v_cdMc(2);
v_oMo[1].buildFrom(0, 0, 0, 0, 0, M_PI);
for (size_t i = 0; i < 2; i++) {
v_cdMc[i] = cdMo * v_oMo[i] * cMo.inverse();
}
if (std::fabs(v_cdMc[0].getThetaUVector().getTheta()) < std::fabs(v_cdMc[1].getThetaUVector().getTheta())) {
oMo = v_oMo[0];
}
else {
std::cout << "Desired frame modified to avoid PI rotation of the camera" << std::endl;
oMo = v_oMo[1]; // Introduce PI rotation
}
}
// Update visual features
cdMc = cdMo * oMo * cMo.inverse();
t.buildFrom(cdMc);
tu.buildFrom(cdMc);
if (opt_task_sequencing) {
if (! servo_started) {
if (send_velocities) {
servo_started = true;
}
t_init_servo = vpTime::measureTimeMs();
}
v_c = task.computeControlLaw((vpTime::measureTimeMs() - t_init_servo)/1000.);
}
else {
v_c = task.computeControlLaw();
}
// Display desired and current pose features
vpDisplay::displayFrame(I, cdMo * oMo, cam, opt_tagSize / 1.5, vpColor::yellow, 2);
vpDisplay::displayFrame(I, cMo, cam, opt_tagSize / 2, vpColor::none, 3);
// Get tag corners
std::vector<vpImagePoint> vip = detector.getPolygon(0);
// Get the tag cog corresponding to the projection of the tag frame in the image
vip.push_back(detector.getCog(0));
// Display the trajectory of the points
if (first_time) {
traj_vip = new std::vector<vpImagePoint> [vip.size()];
}
display_point_trajectory(I, vip, traj_vip);
if (opt_plot) {
plotter->plot(0, iter_plot, task.getError());
plotter->plot(1, iter_plot, v_c);
iter_plot++;
}
if (opt_verbose) {
std::cout << "v_c: " << v_c.t() << std::endl;
}
vpThetaUVector cd_tu_c = cdMc.getThetaUVector();
double error_tr = sqrt(cd_t_c.sumSquare());
double error_tu = vpMath::deg(sqrt(cd_tu_c.sumSquare()));
ss.str("");
ss << "error_t: " << error_tr;
vpDisplay::displayText(I, 20, static_cast<int>(I.getWidth()) - 150, ss.str(), vpColor::red);
ss.str("");
ss << "error_tu: " << error_tu;
vpDisplay::displayText(I, 40, static_cast<int>(I.getWidth()) - 150, ss.str(), vpColor::red);
if (opt_verbose)
std::cout << "error translation: " << error_tr << " ; error rotation: " << error_tu << std::endl;
if (error_tr < convergence_threshold_t && error_tu < convergence_threshold_tu) {
has_converged = true;
std::cout << "Servo task has converged" << std::endl;;
vpDisplay::displayText(I, 100, 20, "Servo task has converged", vpColor::red);
}
if (first_time) {
first_time = false;
}
} // end if (cMo_vec.size() == 1)
else {
v_c = 0;
}
if (!send_velocities) {
v_c = 0;
}
// Send to the robot
ss.str("");
ss << "Loop time: " << vpTime::measureTimeMs() - t_start << " ms";
vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
if (vpDisplay::getClick(I, button, false)) {
switch (button) {
send_velocities = !send_velocities;
break;
final_quit = true;
v_c = 0;
break;
default:
break;
}
}
}
std::cout << "Stop the robot " << std::endl;
if (opt_plot && plotter != nullptr) {
delete plotter;
plotter = nullptr;
}
task.kill();
if (!final_quit) {
while (!final_quit) {
rs.acquire(I);
vpDisplay::displayText(I, 20, 20, "Click to quit the program.", vpColor::red);
vpDisplay::displayText(I, 40, 20, "Visual servo converged.", vpColor::red);
if (vpDisplay::getClick(I, false)) {
final_quit = true;
}
}
}
if (traj_vip) {
delete [] traj_vip;
}
}
catch(const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
std::cout << "Stop the robot " << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
return 0;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "Install librealsense-2.x" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
#endif
#if !defined(VISP_HAVE_FRANKA)
std::cout << "Install libfranka." << std::endl;
#endif
return 0;
}
#endif
vpRobot::STATE_VELOCITY_CONTROL
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
vpDetectorAprilTag::TAG_36h11
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Definition: vpDetectorAprilTag.h:220
vpServo::kill
void kill()
Definition: vpServo.cpp:192
vpDetectorAprilTag::HOMOGRAPHY_VIRTUAL_VS
@ HOMOGRAPHY_VIRTUAL_VS
Definition: vpDetectorAprilTag.h:235
vpDisplay::displayLine
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
Definition: vpDisplay_uchar.cpp:400
vpServo::CURRENT
@ CURRENT
Definition: vpServo.h:186
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:108
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:233
vpMouseButton::button1
@ button1
Definition: vpMouseButton.h:53
vpDetectorBase::getPolygon
std::vector< std::vector< vpImagePoint > > & getPolygon()
Definition: vpDetectorBase.h:121
vpFeatureTranslation::cdMc
@ cdMc
Definition: vpFeatureTranslation.h:287
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:406
vpMath::deg
static double deg(double rad)
Definition: vpMath.h:101
vpDetectorAprilTag::vpPoseEstimationMethod
vpPoseEstimationMethod
Definition: vpDetectorAprilTag.h:233
vpDetectorAprilTag::setAprilTagPoseEstimationMethod
void setAprilTagPoseEstimationMethod(const vpPoseEstimationMethod &poseEstimationMethod)
Definition: vpDetectorAprilTag.cpp:973
vpRealSense2::getCameraParameters
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion) const
Definition: vpRealSense2.cpp:401
vpTranslationVector::sumSquare
double sumSquare() const
Definition: vpTranslationVector.cpp:738
vpServo::EYEINHAND_CAMERA
@ EYEINHAND_CAMERA
Definition: vpServo.h:159
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpFeatureTranslation
Class that defines the translation visual feature .
Definition: vpFeatureTranslation.h:276
vpColor::yellow
static const vpColor yellow
Definition: vpColor.h:187
vpTranslationVector
Class that consider the case of a translation vector.
Definition: vpTranslationVector.h:119
vpHomogeneousMatrix::getThetaUVector
vpThetaUVector getThetaUVector() const
Definition: vpHomogeneousMatrix.cpp:806
vpDetectorAprilTag
Definition: vpDetectorAprilTag.h:216
vpImagePoint::distance
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
Definition: vpImagePoint.h:285
vpThetaUVector
Implementation of a rotation vector as axis-angle minimal representation.
Definition: vpThetaUVector.h:172
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpDisplay::displayFrame
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
Definition: vpDisplay_uchar.cpp:384
vpRealSense2::acquire
void acquire(vpImage< unsigned char > &grey)
Definition: vpRealSense2.cpp:88
vpRealSense2
Definition: vpRealSense2.h:282
vpDetectorAprilTag::detect
bool detect(const vpImage< unsigned char > &I)
Definition: vpDetectorAprilTag.cpp:762
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:223
vpTime::measureTimeMs
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
vpHomogeneousMatrix::getTranslationVector
vpTranslationVector getTranslationVector() const
Definition: vpHomogeneousMatrix.cpp:785
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:280
vpRobot::setRobotState
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
vpColor::green
static const vpColor green
Definition: vpColor.h:182
vpPlot::setLegend
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
Definition: vpPlot.cpp:547
vpArray2D::loadYAML
static bool loadYAML(const std::string &filename, vpArray2D< Type > &A, char *header=NULL)
Definition: vpArray2D.h:653
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:740
vpDetectorAprilTag::setAprilTagQuadDecimate
void setAprilTagQuadDecimate(float quadDecimate)
Definition: vpDetectorAprilTag.cpp:991
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:664
vpDetectorAprilTag::setDisplayTag
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
Definition: vpDetectorAprilTag.h:283
vpFeatureThetaU::cdRc
@ cdRc
Definition: vpFeatureThetaU.h:236
vpDetectorBase::getCog
vpImagePoint getCog(size_t i) const
Definition: vpDetectorBase.cpp:79
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:122
vpAdaptiveGain
Adaptive gain computation.
Definition: vpAdaptiveGain.h:121
vpException::what
const char * what() const
Definition: vpException.cpp:102
vpRotationVector::sumSquare
double sumSquare() const
Definition: vpRotationVector.cpp:178
vpPoseVector
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
vpServo::getError
vpColVector getError() const
Definition: vpServo.h:282
vpFeatureThetaU
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Definition: vpFeatureThetaU.h:224
vpDetectorAprilTag::vpAprilTagFamily
vpAprilTagFamily
Definition: vpDetectorAprilTag.h:219
vpHomogeneousMatrix::buildFrom
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Definition: vpHomogeneousMatrix.cpp:222
vpMouseButton::button3
@ button3
Definition: vpMouseButton.h:55
vpColor::none
static const vpColor none
Definition: vpColor.h:191
vpRobot::CAMERA_FRAME
@ CAMERA_FRAME
Definition: vpRobot.h:82
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:497
vpRobotFranka
Definition: vpRobotFranka.h:223
vpPlot::setTitle
void setTitle(unsigned int graphNum, const std::string &title)
Definition: vpPlot.cpp:498
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:574
vpPlot::plot
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition: vpPlot.cpp:286
vpServo
Definition: vpServo.h:150
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:935
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:716
vpHomogeneousMatrix::inverse
vpHomogeneousMatrix inverse() const
Definition: vpHomogeneousMatrix.cpp:641
vpImage< unsigned char >
vpPlot::initGraph
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition: vpPlot.cpp:206
vpRealSense2::open
void open(const rs2::config &cfg=rs2::config())
Definition: vpRealSense2.cpp:838
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:765
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:149
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:198
vpMouseButton::vpMouseButtonType
vpMouseButtonType
Definition: vpMouseButton.h:52
vpCameraParameters::perspectiveProjWithDistortion
@ perspectiveProjWithDistortion
Definition: vpCameraParameters.h:242
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpPlot
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:115
vpRobot::STATE_STOP
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
vpColor::red
static const vpColor red
Definition: vpColor.h:179