Visual Servoing Platform  version 3.2.0
tutorial-simu-pioneer-continuous-gain-adaptive.cpp
1 
19 #include <iostream>
20 
21 #include <visp3/core/vpHomogeneousMatrix.h>
22 #include <visp3/core/vpVelocityTwistMatrix.h>
23 #include <visp3/gui/vpPlot.h>
24 #include <visp3/robot/vpSimulatorPioneer.h>
25 #include <visp3/visual_features/vpFeatureBuilder.h>
26 #include <visp3/visual_features/vpFeatureDepth.h>
27 #include <visp3/visual_features/vpFeaturePoint.h>
28 #include <visp3/vs/vpServo.h>
29 
30 int main()
31 {
32  try {
34  cdMo[1][3] = 1.2;
35  cdMo[2][3] = 0.5;
36 
38  cMo[0][3] = 0.3;
39  cMo[1][3] = cdMo[1][3];
40  cMo[2][3] = 1.;
41  vpRotationMatrix cRo(0, atan2(cMo[0][3], cMo[1][3]), 0);
42  cMo.insert(cRo);
43 
44  vpSimulatorPioneer robot;
45  robot.setSamplingTime(0.04);
46  vpHomogeneousMatrix wMc, wMo;
47  robot.getPosition(wMc);
48  wMo = wMc * cMo;
49 
50  vpPoint point(0, 0, 0);
51  point.track(cMo);
52 
53  vpServo task;
56  task.setLambda(2, 0.2, 10);
58  cVe = robot.get_cVe();
59  task.set_cVe(cVe);
60 
61  vpMatrix eJe;
62  robot.get_eJe(eJe);
63  task.set_eJe(eJe);
64 
65  vpFeaturePoint s_x, s_xd;
66  vpFeatureBuilder::create(s_x, point);
67  s_xd.buildFrom(0, 0, cdMo[2][3]);
68  task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
69 
70  vpFeatureDepth s_Z, s_Zd;
71  double Z = point.get_Z();
72  double Zd = cdMo[2][3];
73  s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z / Zd));
74  s_Zd.buildFrom(0, 0, Zd, 0);
75  task.addFeature(s_Z, s_Zd);
76 
77 #ifdef VISP_HAVE_DISPLAY
78  // Create a window (800 by 500) at position (400, 10) with 3 graphics
79  vpPlot graph(3, 800, 500, 400, 10, "Curves...");
80 
81  // Init the curve plotter
82  graph.initGraph(0, 2);
83  graph.initGraph(1, 2);
84  graph.initGraph(2, 1);
85  graph.setTitle(0, "Velocities");
86  graph.setTitle(1, "Error s-s*");
87  graph.setTitle(2, "Depth");
88  graph.setLegend(0, 0, "vx");
89  graph.setLegend(0, 1, "wz");
90  graph.setLegend(1, 0, "x");
91  graph.setLegend(1, 1, "log(Z/Z*)");
92  graph.setLegend(2, 0, "Z");
93 #endif
94 
95  int iter = 0;
96  for (;;) {
97  robot.getPosition(wMc);
98  cMo = wMc.inverse() * wMo;
99 
100  point.track(cMo);
101 
102  vpFeatureBuilder::create(s_x, point);
103 
104  Z = point.get_Z();
105  s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z / Zd));
106 
107  robot.get_cVe(cVe);
108  task.set_cVe(cVe);
109  robot.get_eJe(eJe);
110  task.set_eJe(eJe);
111 
112  vpColVector v = task.computeControlLaw(iter * robot.getSamplingTime());
114 
115 #ifdef VISP_HAVE_DISPLAY
116  graph.plot(0, iter, v); // plot velocities applied to the robot
117  graph.plot(1, iter, task.getError()); // plot error vector
118  graph.plot(2, 0, iter, Z); // plot the depth
119 #endif
120 
121  iter++;
122 
123  if (task.getError().sumSquare() < 0.0001) {
124  std::cout << "Reached a small error. We stop the loop... " << std::endl;
125  break;
126  }
127  }
128 #ifdef VISP_HAVE_DISPLAY
129  graph.saveData(0, "./v2.dat");
130  graph.saveData(1, "./error2.dat");
131 
132  const char *legend = "Click to quit...";
133  vpDisplay::displayText(graph.I, (int)graph.I.getHeight() - 60, (int)graph.I.getWidth() - 150, legend, vpColor::red);
134  vpDisplay::flush(graph.I);
135  vpDisplay::getClick(graph.I);
136 #endif
137 
138  // Kill the servo task
139  task.print();
140  task.kill();
141 
142  } catch (const vpException &e) {
143  std::cout << "Catch an exception: " << e << std::endl;
144  }
145 }
vpRobot::ARTICULAR_FRAME
Definition: vpRobot.h:77
vpServo::kill
void kill()
Definition: vpServo.cpp:191
vpFeatureDepth::buildFrom
void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
Definition: vpFeatureDepth.cpp:371
vpSimulatorCamera::get_cVe
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpSimulatorCamera.cpp:93
vpFeaturePoint::buildFrom
void buildFrom(const double x, const double y, const double Z)
Definition: vpFeaturePoint.cpp:394
vpFeaturePoint::get_y
double get_y() const
Definition: vpFeaturePoint.cpp:149
vpServo::set_eJe
void set_eJe(const vpMatrix &eJe_)
Definition: vpServo.h:507
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:405
vpHomogeneousMatrix::insert
void insert(const vpRotationMatrix &R)
Definition: vpHomogeneousMatrix.cpp:591
vpRobotSimulator::getSamplingTime
double getSamplingTime() const
Definition: vpRobotSimulator.h:81
vpFeatureBuilder::create
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Definition: vpFeatureBuilderPoint.cpp:92
vpServo::set_cVe
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition: vpServo.h:449
vpFeaturePoint::get_x
double get_x() const
Definition: vpFeaturePoint.cpp:129
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:103
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:222
vpSimulatorCamera::getPosition
vpHomogeneousMatrix getPosition() const
Definition: vpSimulatorCamera.cpp:118
vpServo::print
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:312
vpFeaturePoint::selectX
static unsigned int selectX()
Definition: vpFeaturePoint.cpp:506
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:600
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:70
vpServo::getError
vpColVector getError() const
Definition: vpServo.h:281
vpServo::DESIRED
Definition: vpServo.h:189
vpVelocityTwistMatrix
Definition: vpVelocityTwistMatrix.h:113
vpFeatureDepth
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
Definition: vpFeatureDepth.h:159
vpSimulatorCamera::get_eJe
void get_eJe(vpMatrix &eJe)
Definition: vpSimulatorCamera.cpp:107
vpServo::EYEINHAND_L_cVe_eJe
Definition: vpServo.h:162
vpFeaturePoint
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Definition: vpFeaturePoint.h:180
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:573
vpServo
Definition: vpServo.h:149
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:934
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:496
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:652
vpColVector::sumSquare
double sumSquare() const
Definition: vpColVector.cpp:1436
vpRobotSimulator::setSamplingTime
virtual void setSamplingTime(const double &delta_t)
Definition: vpRobotSimulator.h:90
vpHomogeneousMatrix::inverse
vpHomogeneousMatrix inverse() const
Definition: vpHomogeneousMatrix.cpp:642
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:57
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:701
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:197
vpServo::PSEUDO_INVERSE
Definition: vpServo.h:205
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpPlot
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:114
vpColor::red
static const vpColor red
Definition: vpColor.h:179
vpSimulatorPioneer
Class that defines the Pioneer mobile robot simulator equipped with a static camera.
Definition: vpSimulatorPioneer.h:102