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Visual Servoing Platform
version 3.2.0
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51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpDebug.h>
60 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394_2) && defined(VISP_HAVE_DISPLAY))
62 #include <visp3/blob/vpDot2.h>
63 #include <visp3/core/vpDisplay.h>
64 #include <visp3/core/vpException.h>
65 #include <visp3/core/vpHomogeneousMatrix.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpIoTools.h>
68 #include <visp3/core/vpMath.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/gui/vpDisplayGTK.h>
71 #include <visp3/gui/vpDisplayOpenCV.h>
72 #include <visp3/gui/vpDisplayX.h>
73 #include <visp3/gui/vpPlot.h>
74 #include <visp3/robot/vpRobotViper850.h>
75 #include <visp3/sensor/vp1394TwoGrabber.h>
76 #include <visp3/visual_features/vpFeatureBuilder.h>
77 #include <visp3/visual_features/vpFeaturePoint.h>
78 #include <visp3/vs/vpServo.h>
79 #include <visp3/vs/vpServoDisplay.h>
99 vpDisplayX display(I, 800, 100,
"Current image");
100 #elif defined(VISP_HAVE_OPENCV)
102 #elif defined(VISP_HAVE_GTK)
110 jointMin = robot.getJointMin();
111 jointMax = robot.getJointMax();
116 Qmiddle = (jointMin + jointMax) / 2.;
131 plot.initGraph(0, 12);
133 plot.initGraph(1, 6);
138 plot.initRange(0, 0., 200., -1.2, 1.2);
139 plot.setTitle(0,
"Joint behavior");
142 plot.setTitle(1,
"Q secondary task");
146 for (
unsigned int i = 0; i < 6; i++) {
147 sprintf(legend,
"q%u", i + 1);
148 plot.setLegend(0, i, legend);
149 plot.setLegend(1, i, legend);
151 plot.setLegend(0, 6,
"Low Limit");
152 plot.setLegend(0, 7,
"Upper Limit");
153 plot.setLegend(0, 8,
"ql0 min");
154 plot.setLegend(0, 9,
"ql0 max");
155 plot.setLegend(0, 10,
"ql1 min");
156 plot.setLegend(0, 11,
"ql1 max");
163 plot.setColor(0, 4,
vpColor(0, 128, 0));
165 for (
unsigned int i = 6; i < 12; i++)
172 std::cout <<
"Click on a dot..." << std::endl;
180 robot.getCameraParameters(cam, I);
199 std::cout << cVe << std::endl;
208 std::cout << std::endl;
220 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
257 v = prim_task + sec_task;
269 for (
unsigned int i = 0; i < 6; i++) {
270 data[i] = (q[i] - Qmiddle[i]);
271 data[i] /= (jointMax[i] - jointMin[i]);
278 unsigned int joint = 2;
279 double tQmin_l0 = jointMin[joint] + rho * (jointMax[joint] - jointMin[joint]);
280 double tQmax_l0 = jointMax[joint] - rho * (jointMax[joint] - jointMin[joint]);
282 double tQmin_l1 = tQmin_l0 - rho * rho1 * (jointMax[joint] - jointMin[joint]);
283 double tQmax_l1 = tQmax_l0 + rho * rho1 * (jointMax[joint] - jointMin[joint]);
285 data[8] = 2 * (tQmin_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
286 data[9] = 2 * (tQmax_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
287 data[10] = 2 * (tQmin_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
288 data[11] = 2 * (tQmax_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
289 plot.plot(0, iter, data);
291 plot.plot(1, iter, sec_task);
303 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
311 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Initialize the velocity controller.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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
vpImagePoint getCog() const
static const vpColor orange
void get_cVe(vpVelocityTwistMatrix &cVe) const
void buildFrom(const double x, const double y, const double Z)
Generic class defining intrinsic camera parameters.
void track(const vpImage< unsigned char > &I)
Control of Irisa's Viper S850 robot named Viper850.
void set_eJe(const vpMatrix &eJe_)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void set_Z(const double Z)
Implementation of column vector and the associated operations.
static const vpColor cyan
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)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpHomogeneousMatrix getPosition() const
static const vpColor green
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...
static const vpColor black
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
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 blue
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
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)
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...