49 #include <visp3/core/vpConfig.h> 50 #include <visp3/core/vpDebug.h> 58 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2) && defined(VISP_HAVE_DISPLAY)) 60 #include <visp3/sensor/vp1394TwoGrabber.h> 61 #include <visp3/core/vpImage.h> 62 #include <visp3/core/vpDisplay.h> 63 #include <visp3/gui/vpDisplayX.h> 64 #include <visp3/gui/vpDisplayOpenCV.h> 65 #include <visp3/gui/vpDisplayGTK.h> 66 #include <visp3/core/vpMath.h> 67 #include <visp3/core/vpHomogeneousMatrix.h> 68 #include <visp3/visual_features/vpFeaturePoint.h> 69 #include <visp3/core/vpPoint.h> 70 #include <visp3/vs/vpServo.h> 71 #include <visp3/visual_features/vpFeatureBuilder.h> 72 #include <visp3/robot/vpRobotViper850.h> 73 #include <visp3/core/vpIoTools.h> 74 #include <visp3/core/vpException.h> 75 #include <visp3/vs/vpServoDisplay.h> 76 #include <visp3/blob/vpDot2.h> 77 #include <visp3/gui/vpPlot.h> 99 vpDisplayX display(I,800,100,
"Current image") ;
100 #elif defined(VISP_HAVE_OPENCV) 102 #elif defined(VISP_HAVE_GTK) 116 Qmiddle = (jointMin + jointMax) /2.;
129 plot.initGraph(0, 12);
131 plot.initGraph(1, 6);
136 plot.initRange(0, 0., 200., -1.2, 1.2);
137 plot.setTitle(0,
"Joint behavior");
140 plot.setTitle(1,
"Q secondary task");
144 for (
unsigned int i=0; i < 6; i++) {
145 sprintf(legend,
"q%u", i+1);
146 plot.setLegend(0, i, legend);
147 plot.setLegend(1, i, legend);
149 plot.setLegend(0, 6,
"Low Limit");
150 plot.setLegend(0, 7,
"Upper Limit");
151 plot.setLegend(0, 8,
"ql0 min");
152 plot.setLegend(0, 9,
"ql0 max");
153 plot.setLegend(0, 10,
"ql1 min");
154 plot.setLegend(0, 11,
"ql1 max");
161 plot.setColor(0, 4,
vpColor(0, 128, 0));
163 for (
unsigned int i= 6; i < 12; i++)
170 std::cout <<
"Click on a dot..." << std::endl;
197 std::cout << cVe <<std::endl ;
206 std::cout << std::endl ;
218 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
255 v = prim_task + sec_task;
267 for (
unsigned int i=0 ; i < 6 ; i++) {
268 data[i] = (q[i] - Qmiddle[i]) ;
269 data[i] /= (jointMax[i] - jointMin[i]) ;
276 unsigned int joint = 2;
277 double tQmin_l0 = jointMin[joint] + rho *(jointMax[joint] - jointMin[joint]);
278 double tQmax_l0 = jointMax[joint] - rho *(jointMax[joint] - jointMin[joint]);
280 double tQmin_l1 = tQmin_l0 - rho * rho1 * (jointMax[joint] - jointMin[joint]);
281 double tQmax_l1 = tQmax_l0 + rho * rho1 * (jointMax[joint] - jointMin[joint]);
283 data[8] = 2*(tQmin_l0 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
284 data[9] = 2*(tQmax_l0 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
285 data[10] = 2*(tQmin_l1 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
286 data[11] = 2*(tQmax_l1 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
287 plot.plot(0, iter, data);
288 plot.plot(1, iter, sec_task);
311 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.
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...
vpColVector secondaryTaskJointLimitAvoidance(const vpColVector &q, const vpColVector &dq, const vpColVector &jointMin, const vpColVector &jointMax, const double &rho=0.1, const double &rho1=0.3, const double &lambda_tune=0.7) const
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)
static const vpColor orange
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...
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
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