49 #include <visp3/core/vpConfig.h> 50 #include <visp3/core/vpDebug.h> 58 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394) && 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) 119 for (
unsigned int i=0 ; i < 6 ; i++)
121 Qmin[i] = jointMin[i] + 0.5*rho*(jointMax[i]-jointMin[i]) ;
122 Qmax[i] = jointMax[i] - 0.5*rho*(jointMax[i]-jointMin[i]) ;
124 Qmiddle = (Qmin + Qmax) /2.;
127 for (
unsigned int i=0 ; i < 6 ; i++) {
128 tQmin[i]=Qmin[i]+ 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
129 tQmax[i]=Qmax[i]- 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
141 plot.initGraph(0, 10);
143 plot.initGraph(1, 1);
149 plot.initRange(0, 0., 200., -1.2, 1.2);
150 plot.setTitle(0,
"Joint behavior");
157 plot.initRange(1, 0., 200., 0., 1e-4);
158 plot.setTitle(1,
"Cost function");
162 for (
unsigned int i=0; i < 6; i++) {
163 sprintf(legend,
"q%u", i+1);
164 plot.setLegend(0, i, legend);
166 plot.setLegend(0, 6,
"tQmin");
167 plot.setLegend(0, 7,
"tQmax");
168 plot.setLegend(0, 8,
"Qmin");
169 plot.setLegend(0, 9,
"Qmax");
176 plot.setColor(0, 4,
vpColor(0, 128, 0));
178 for (
unsigned int i= 6; i < 10; i++)
182 plot.setLegend(1, 0,
"h_s");
187 std::cout <<
" Give the parameters beta (1) : ";
192 std::cout <<
"Click on a dot..." << std::endl;
219 std::cout << cVe <<std::endl ;
228 std::cout << std::endl ;
240 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
282 for (
unsigned int i=0 ; i < 6 ; i++)
285 if (q[i] > tQmax[i]) S = q[i] - tQmax[i] ;
286 if (q[i] < tQmin[i]) S = q[i] - tQmin[i] ;
287 double D = (Qmax[i]-Qmin[i]) ;
294 std::cout <<
"Cost function h_s: " << h_s << std::endl;
300 v = prim_task + sec_task;
312 for (
unsigned int i=0 ; i < 6 ; i++) {
313 data[i] = (q[i] - Qmiddle[i]) ;
314 data[i] /= (Qmax[i] - Qmin[i]) ;
317 unsigned int joint = 2;
318 data[6] = 2*(tQmin[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
319 data[7] = 2*(tQmax[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
320 data[8] = -1 ; data[9] = 1 ;
321 plot.plot(0, iter, data);
322 plot.plot(1, 0, iter, h_s);
335 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
344 vpERROR_TRACE(
"You do not have an Viper 850 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)
error that can be emited by ViSP classes.
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)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
static const vpColor orange
Initialize the velocity controller.
static const vpColor cyan
vpColVector computeControlLaw()
static double sqr(double x)
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)
const char * getMessage(void) const
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