50 #include <visp3/core/vpConfig.h> 51 #include <visp3/core/vpDebug.h> 61 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY)) 63 #include <visp3/sensor/vp1394TwoGrabber.h> 64 #include <visp3/core/vpImage.h> 65 #include <visp3/core/vpDisplay.h> 66 #include <visp3/gui/vpDisplayX.h> 67 #include <visp3/gui/vpDisplayOpenCV.h> 68 #include <visp3/gui/vpDisplayGTK.h> 69 #include <visp3/core/vpMath.h> 70 #include <visp3/core/vpHomogeneousMatrix.h> 71 #include <visp3/visual_features/vpFeaturePoint.h> 72 #include <visp3/core/vpPoint.h> 73 #include <visp3/vs/vpServo.h> 74 #include <visp3/visual_features/vpFeatureBuilder.h> 75 #include <visp3/robot/vpRobotViper850.h> 76 #include <visp3/core/vpIoTools.h> 77 #include <visp3/core/vpException.h> 78 #include <visp3/vs/vpServoDisplay.h> 79 #include <visp3/blob/vpDot2.h> 80 #include <visp3/gui/vpPlot.h> 101 double Tloop = 1./60.f;
112 std::cout <<
"Tloop: " << Tloop << std::endl;
115 vpDisplayX display(I,800,100,
"Current image") ;
116 #elif defined(VISP_HAVE_OPENCV) 118 #elif defined(VISP_HAVE_GTK) 135 for (
unsigned int i=0 ; i < 6 ; i++)
137 Qmin[i] = jointMin[i] + 0.5*rho*(jointMax[i]-jointMin[i]) ;
138 Qmax[i] = jointMax[i] - 0.5*rho*(jointMax[i]-jointMin[i]) ;
140 Qmiddle = (Qmin + Qmax) /2.;
143 for (
unsigned int i=0 ; i < 6 ; i++) {
144 tQmin[i]=Qmin[i]+ 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
145 tQmax[i]=Qmax[i]- 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
157 plot.initGraph(0, 10);
158 plot.initGraph(1, 6);
165 plot.initRange(0,0,200,1,-1.2,1.2,0.1);
166 plot.setTitle(0,
"Joint behavior");
167 plot.initRange(1,0,200,1,-0.01,0.01,0.05);
168 plot.setTitle(1,
"Joint velocity");
172 for (
unsigned int i=0; i < 6; i++) {
173 sprintf(legend,
"q%u", i+1);
174 plot.setLegend(0, i, legend);
175 sprintf(legend,
"q%u", i+1);
176 plot.setLegend(1, i, legend);
178 plot.setLegend(0, 6,
"tQmin");
179 plot.setLegend(0, 7,
"tQmax");
180 plot.setLegend(0, 8,
"Qmin");
181 plot.setLegend(0, 9,
"Qmax");
188 plot.setColor(0, 4,
vpColor(0, 128, 0));
190 for (
unsigned int i= 6; i < 10; i++)
198 plot.setColor(1, 4,
vpColor(0, 128, 0));
203 std::cout <<
"Click on a dot..." << std::endl;
230 std::cout << cVe <<std::endl ;
239 std::cout << std::endl ;
255 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
262 double Tv = (double)(t_0 - t_1) / 1000.0;
263 std::cout <<
"Tv: " << Tv << std::endl;
269 dc1394video_frame_t *frame = g.dequeue(I);
302 qpre += -lambda*prim_task*(4*Tloop) ;
306 unsigned int npb =0 ;
307 for (
unsigned int i=0 ; i < 6 ;i++) {
309 if (fabs(Qmin[i]-q[i]) > fabs(Qmin[i]-qpre[i])) {
311 std::cout <<
"Joint " << i <<
" near limit " << std::endl ;
314 if (fabs(Qmax[i]-q[i]) > fabs(Qmax[i]-qpre[i])) {
316 std::cout <<
"Joint " << i <<
" near limit " << std::endl ;
326 unsigned int dimKernelL = kernelJ1.
getCols() ;
334 for (
unsigned int j=0 ; j < 6 ; j++)
336 if (std::fabs(pb[j]-1) <= std::numeric_limits<double>::epsilon()) {
337 for (
unsigned int i=0 ; i < dimKernelL ; i++)
338 E[k][i] = kernelJ1[j][i] ;
340 S[k] = -prim_task[j] ;
345 Ep = E.
t()*(E*E.t()).pseudoInverse() ;
357 v = -lambda * (prim_task + e2);
369 for (
unsigned int i=0 ; i < 6 ; i++) {
370 data[i] = (q[i] - Qmiddle[i]) ;
371 data[i] /= (Qmax[i] - Qmin[i]) ;
374 unsigned int joint = 2;
375 data[6] = 2*(tQmin[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
376 data[7] = 2*(tQmax[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
377 data[8] = -1 ; data[9] = 1 ;
379 plot.plot(0, iter, data);
380 plot.plot(1, iter, v);
408 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
VISP_EXPORT int wait(double t0, double t)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Control of Irisa's Viper S850 robot named Viper850.
static const vpColor black
Class to define colors available for display functionnalities.
vpColVector getJointMin() const
void set_eJe(const vpMatrix &eJe_)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
static const vpColor orange
unsigned int getCols() const
Return the number of columns of the 2D array.
Initialize the velocity controller.
static const vpColor cyan
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
unsigned int kernel(vpMatrix &KerA, double svThreshold=1e-6) const
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void get_cVe(vpVelocityTwistMatrix &cVe) const
vpMatrix getTaskJacobian() const
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
vpImagePoint getCog() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
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)
vpColVector getJointMax() const
static const vpColor blue