2 #include <visp/vpDisplayGDI.h>
3 #include <visp/vpDisplayX.h>
4 #include <visp/vpFeatureBuilder.h>
5 #include <visp/vpServo.h>
6 #include <visp/vpSimulatorAfma6.h>
12 static std::vector<vpImagePoint> traj[4];
14 for (
unsigned int i=0; i<4; i++) {
16 point[i].project(cMo);
18 traj[i].push_back(cog);
20 for (
unsigned int i=0; i<4; i++) {
21 for (
unsigned int j=1; j<traj[i].size(); j++) {
29 #if defined(VISP_HAVE_PTHREAD)
58 std::vector<vpPoint> point(4) ;
59 point[0].setWorldCoordinates(-0.1,-0.1, 0);
60 point[1].setWorldCoordinates( 0.1,-0.1, 0);
61 point[2].setWorldCoordinates( 0.1, 0.1, 0);
62 point[3].setWorldCoordinates(-0.1, 0.1, 0);
70 for (
int i = 0 ; i < 4 ; i++) {
85 std::cout <<
"Robot joint limits: " << std::endl;
86 for (
unsigned int i=0; i< 3; i ++)
87 std::cout <<
"Joint " << i <<
": min " << qmin[i] <<
" max " << qmax[i] <<
" (m)" << std::endl;
88 for (
unsigned int i=3; i< qmin.
size(); i ++)
89 std::cout <<
"Joint " << i <<
": min " <<
vpMath::deg(qmin[i]) <<
" max " <<
vpMath::deg(qmax[i]) <<
" (deg)" << std::endl;
96 #if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
99 robot.initialiseCameraRelativeToObject(cMo);
102 robot.setDesiredCameraPosition(cdMo);
105 #if defined(VISP_HAVE_X11)
106 vpDisplayX displayInt(Iint, 700, 0,
"Internal view");
107 #elif defined(VISP_HAVE_GDI)
110 std::cout <<
"No image viewer is available..." << std::endl;
114 robot.setCameraParameters(cam);
119 cMo = robot.get_cMo();
121 for (
int i = 0 ; i < 4 ; i++) {
127 robot.getInternalView(Iint);
129 display_trajectory(Iint, point, cMo, cam);