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Visual Servoing Platform
version 3.3.0
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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;
@ STATE_VELOCITY_CONTROL
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(double x, double y, double Z)
Generic class defining intrinsic camera parameters.
void set_eJe(const vpMatrix &eJe_)
@ vpVIDEO_MODE_640x480_MONO8
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_)
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
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
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()
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)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
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...