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Visual Servoing Platform
version 3.3.0
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51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpDebug.h>
62 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
64 #include <visp3/blob/vpDot2.h>
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/core/vpException.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/core/vpImage.h>
69 #include <visp3/core/vpIoTools.h>
70 #include <visp3/core/vpMath.h>
71 #include <visp3/core/vpPoint.h>
72 #include <visp3/gui/vpDisplayGTK.h>
73 #include <visp3/gui/vpDisplayOpenCV.h>
74 #include <visp3/gui/vpDisplayX.h>
75 #include <visp3/gui/vpPlot.h>
76 #include <visp3/robot/vpRobotViper850.h>
77 #include <visp3/sensor/vp1394TwoGrabber.h>
78 #include <visp3/visual_features/vpFeatureBuilder.h>
79 #include <visp3/visual_features/vpFeaturePoint.h>
80 #include <visp3/vs/vpServo.h>
81 #include <visp3/vs/vpServoDisplay.h>
100 double Tloop = 1. / 60.f;
120 std::cout <<
"Tloop: " << Tloop << std::endl;
123 vpDisplayX display(I, 800, 100,
"Current image");
124 #elif defined(VISP_HAVE_OPENCV)
126 #elif defined(VISP_HAVE_GTK)
134 jointMin = robot.getJointMin();
135 jointMax = robot.getJointMax();
143 for (
unsigned int i = 0; i < 6; i++) {
144 Qmin[i] = jointMin[i] + 0.5 * rho * (jointMax[i] - jointMin[i]);
145 Qmax[i] = jointMax[i] - 0.5 * rho * (jointMax[i] - jointMin[i]);
147 Qmiddle = (Qmin + Qmax) / 2.;
150 for (
unsigned int i = 0; i < 6; i++) {
151 tQmin[i] = Qmin[i] + 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
152 tQmax[i] = Qmax[i] - 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
164 plot.initGraph(0, 10);
165 plot.initGraph(1, 6);
172 plot.initRange(0, 0, 200, 1, -1.2, 1.2, 0.1);
173 plot.setTitle(0,
"Joint behavior");
174 plot.initRange(1, 0, 200, 1, -0.01, 0.01, 0.05);
175 plot.setTitle(1,
"Joint velocity");
179 for (
unsigned int i = 0; i < 6; i++) {
180 sprintf(legend,
"q%u", i + 1);
181 plot.setLegend(0, i, legend);
182 sprintf(legend,
"q%u", i + 1);
183 plot.setLegend(1, i, legend);
185 plot.setLegend(0, 6,
"tQmin");
186 plot.setLegend(0, 7,
"tQmax");
187 plot.setLegend(0, 8,
"Qmin");
188 plot.setLegend(0, 9,
"Qmax");
195 plot.setColor(0, 4,
vpColor(0, 128, 0));
197 for (
unsigned int i = 6; i < 10; i++)
205 plot.setColor(1, 4,
vpColor(0, 128, 0));
209 std::cout <<
"Click on a dot..." << std::endl;
217 robot.getCameraParameters(cam, I);
236 std::cout << cVe << std::endl;
245 std::cout << std::endl;
262 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
269 double Tv = (double)(t_0 - t_1) / 1000.0;
270 std::cout <<
"Tv: " << Tv << std::endl;
276 dc1394video_frame_t *frame = g.dequeue(I);
309 qpre += -lambda * prim_task * (4 * Tloop);
314 unsigned int npb = 0;
315 for (
unsigned int i = 0; i < 6; i++) {
317 if (fabs(Qmin[i] - q[i]) > fabs(Qmin[i] - qpre[i])) {
320 std::cout <<
"Joint " << i <<
" near limit " << std::endl;
322 if (q[i] > tQmax[i]) {
323 if (fabs(Qmax[i] - q[i]) > fabs(Qmax[i] - qpre[i])) {
326 std::cout <<
"Joint " << i <<
" near limit " << std::endl;
336 unsigned int dimKernelL = kernelJ1.
getCols();
344 for (
unsigned int j = 0; j < 6; j++)
346 if (std::fabs(pb[j] - 1) <= std::numeric_limits<double>::epsilon()) {
347 for (
unsigned int i = 0; i < dimKernelL; i++)
348 E[k][i] = kernelJ1[j][i];
350 S[k] = -prim_task[j];
355 Ep = E.
t() * (E * E.t()).pseudoInverse();
358 e2 = (kernelJ1 * a0);
366 v = -lambda * (prim_task + e2);
378 for (
unsigned int i = 0; i < 6; i++) {
379 data[i] = (q[i] - Qmiddle[i]);
380 data[i] /= (Qmax[i] - Qmin[i]);
383 unsigned int joint = 2;
384 data[6] = 2 * (tQmin[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
385 data[7] = 2 * (tQmax[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
389 plot.plot(0, iter, data);
390 plot.plot(1, iter, v);
407 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
415 std::cout <<
"You do not have an Viper 850 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...
vpImagePoint getCog() const
static const vpColor orange
VISP_EXPORT int wait(double t0, double t)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void buildFrom(double x, double y, double Z)
Generic class defining intrinsic camera parameters.
void set_eJe(const vpMatrix &eJe_)
@ vpVIDEO_MODE_640x480_MONO8
static const vpColor black
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
vpMatrix getTaskJacobian() const
static const vpColor blue
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
VISP_EXPORT double measureTimeMs()
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
unsigned int getCols() const
vpHomogeneousMatrix getPosition() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
unsigned int kernel(vpMatrix &kerAt, double svThreshold=1e-6) const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void get_eJe(vpMatrix &eJe)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
const char * getMessage(void) const
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static const vpColor green
vpColVector computeControlLaw()
static void flush(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)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Class to define colors available for display functionnalities.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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)
error that can be emited by ViSP classes.
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
static const vpColor cyan