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Visual Servoing Platform
version 3.2.0
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50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpDebug.h>
59 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
61 #include <visp3/blob/vpDot2.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/core/vpException.h>
64 #include <visp3/core/vpHomogeneousMatrix.h>
65 #include <visp3/core/vpImage.h>
66 #include <visp3/core/vpIoTools.h>
67 #include <visp3/core/vpMath.h>
68 #include <visp3/core/vpPoint.h>
69 #include <visp3/gui/vpDisplayGTK.h>
70 #include <visp3/gui/vpDisplayOpenCV.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/gui/vpPlot.h>
73 #include <visp3/robot/vpRobotViper850.h>
74 #include <visp3/sensor/vp1394TwoGrabber.h>
75 #include <visp3/visual_features/vpFeatureBuilder.h>
76 #include <visp3/visual_features/vpFeaturePoint.h>
77 #include <visp3/vs/vpServo.h>
78 #include <visp3/vs/vpServoDisplay.h>
98 vpDisplayX display(I, 800, 100,
"Current image");
99 #elif defined(VISP_HAVE_OPENCV)
101 #elif defined(VISP_HAVE_GTK)
109 jointMin = robot.getJointMin();
110 jointMax = robot.getJointMax();
118 for (
unsigned int i = 0; i < 6; i++) {
119 Qmin[i] = jointMin[i] + 0.5 * rho * (jointMax[i] - jointMin[i]);
120 Qmax[i] = jointMax[i] - 0.5 * rho * (jointMax[i] - jointMin[i]);
122 Qmiddle = (Qmin + Qmax) / 2.;
125 for (
unsigned int i = 0; i < 6; i++) {
126 tQmin[i] = Qmin[i] + 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
127 tQmax[i] = Qmax[i] - 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
139 plot.initGraph(0, 10);
141 plot.initGraph(1, 1);
146 plot.initRange(0, 0., 200., -1.2, 1.2);
147 plot.setTitle(0,
"Joint behavior");
154 plot.initRange(1, 0., 200., 0., 1e-4);
155 plot.setTitle(1,
"Cost function");
159 for (
unsigned int i = 0; i < 6; i++) {
160 sprintf(legend,
"q%u", i + 1);
161 plot.setLegend(0, i, legend);
163 plot.setLegend(0, 6,
"tQmin");
164 plot.setLegend(0, 7,
"tQmax");
165 plot.setLegend(0, 8,
"Qmin");
166 plot.setLegend(0, 9,
"Qmax");
173 plot.setColor(0, 4,
vpColor(0, 128, 0));
175 for (
unsigned int i = 6; i < 10; i++)
179 plot.setLegend(1, 0,
"h_s");
184 std::cout <<
" Give the parameters beta (1) : ";
189 std::cout <<
"Click on a dot..." << std::endl;
197 robot.getCameraParameters(cam, I);
216 std::cout << cVe << std::endl;
225 std::cout << std::endl;
237 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
279 for (
unsigned int i = 0; i < 6; i++) {
285 double D = (Qmax[i] - Qmin[i]);
289 h_s = beta * h_s / 2.0;
292 std::cout <<
"Cost function h_s: " << h_s << std::endl;
298 v = prim_task + sec_task;
310 for (
unsigned int i = 0; i < 6; i++) {
311 data[i] = (q[i] - Qmiddle[i]);
312 data[i] /= (Qmax[i] - Qmin[i]);
315 unsigned int joint = 2;
316 data[6] = 2 * (tQmin[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
317 data[7] = 2 * (tQmax[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
320 plot.plot(0, iter, data);
321 plot.plot(1, 0, iter, h_s);
333 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
341 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...
vpImagePoint getCog() const
static double sqr(double x)
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
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
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...