ViSP  2.6.2
servoAfma6Point2DArtVelocity.cpp
1 /****************************************************************************
2  *
3  * $Id: servoAfma6Point2DArtVelocity.cpp 3616 2012-03-09 14:31:52Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * tests the control law
36  * eye-in-hand control
37  * velocity computed in articular
38  *
39  * Authors:
40  * Eric Marchand
41  * Fabien Spindler
42  *
43  *****************************************************************************/
44 
67 #include <visp/vpConfig.h>
68 #include <visp/vpDebug.h> // Debug trace
69 #include <stdio.h>
70 #include <iostream>
71 #include <fstream>
72 #include <sstream>
73 #include <stdlib.h>
74 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
75 
76 #include <visp/vp1394TwoGrabber.h>
77 #include <visp/vpImage.h>
78 #include <visp/vpImagePoint.h>
79 #include <visp/vpDisplay.h>
80 #include <visp/vpDisplayX.h>
81 
82 #include <visp/vpMath.h>
83 #include <visp/vpHomogeneousMatrix.h>
84 #include <visp/vpFeaturePoint.h>
85 #include <visp/vpPoint.h>
86 #include <visp/vpServo.h>
87 #include <visp/vpFeatureBuilder.h>
88 #include <visp/vpRobotAfma6.h>
89 #include <visp/vpIoTools.h>
90 
91 // Exception
92 #include <visp/vpException.h>
93 #include <visp/vpMatrixException.h>
94 #include <visp/vpServoDisplay.h>
95 
96 #include <visp/vpDot.h>
97 
98 int
99 main()
100 {
101  // Log file creation in /tmp/$USERNAME/log.dat
102  // This file contains by line:
103  // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
104  // - the 6 mesured joint velocities (m/s, rad/s)
105  // - the 6 mesured joint positions (m, rad)
106  // - the 2 values of s - s*
107  std::string username;
108  // Get the user login name
109  vpIoTools::getUserName(username);
110 
111  // Create a log filename to save velocities...
112  std::string logdirname;
113  logdirname ="/tmp/" + username;
114 
115  // Test if the output path exist. If no try to create it
116  if (vpIoTools::checkDirectory(logdirname) == false) {
117  try {
118  // Create the dirname
119  vpIoTools::makeDirectory(logdirname);
120  }
121  catch (...) {
122  std::cerr << std::endl
123  << "ERROR:" << std::endl;
124  std::cerr << " Cannot create " << logdirname << std::endl;
125  exit(-1);
126  }
127  }
128  std::string logfilename;
129  logfilename = logdirname + "/log.dat";
130 
131  // Open the log file name
132  std::ofstream flog(logfilename.c_str());
133 
134  try {
135  vpServo task ;
136 
138 
142  g.open(I) ;
143 
144  g.acquire(I) ;
145 
146  vpDisplayX display(I,100,100,"testDisplayX.cpp ") ;
147  vpTRACE(" ") ;
148 
149  vpDisplay::display(I) ;
150  vpDisplay::flush(I) ;
151  // exit(1) ;
152 
153  std::cout << std::endl ;
154  std::cout << "-------------------------------------------------------" << std::endl ;
155  std::cout << " Test program for vpServo " <<std::endl ;
156  std::cout << " Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
157  std::cout << " Use of the Afma6 robot " << std::endl ;
158  std::cout << " task : servo a point " << std::endl ;
159  std::cout << "-------------------------------------------------------" << std::endl ;
160  std::cout << std::endl ;
161 
162 
163  vpDot dot ;
164  vpImagePoint cog;
165 
166  std::cout << "Click on a dot..." << std::endl;
167  dot.initTracking(I) ;
168  // Get the dot cog
169  cog = dot.getCog();
171  vpDisplay::flush(I);
172 
173  vpRobotAfma6 robot ;
174 
175  vpCameraParameters cam ;
176  // Update camera parameters
177  robot.getCameraParameters (cam, I);
178 
179  vpTRACE("sets the current position of the visual feature ") ;
180  vpFeaturePoint p ;
181  vpFeatureBuilder::create(p,cam, dot) ; //retrieve x,y and Z of the vpPoint structure
182 
183  p.set_Z(1) ;
184  vpTRACE("sets the desired position of the visual feature ") ;
185  vpFeaturePoint pd ;
186  pd.buildFrom(0,0,1) ;
187 
188  vpTRACE("define the task") ;
189  vpTRACE("\t we want an eye-in-hand control law") ;
190  vpTRACE("\t articular velocity are computed") ;
193 
194 
195  vpTRACE("Set the position of the camera in the end-effector frame ") ;
196  vpHomogeneousMatrix cMe ;
197  // robot.get_cMe(cMe) ;
198 
200  robot.get_cVe(cVe) ;
201  std::cout << cVe <<std::endl ;
202  task.set_cVe(cVe) ;
203 
204  // vpDisplay::getClick(I) ;
205  vpTRACE("Set the Jacobian (expressed in the end-effector frame)") ;
206  vpMatrix eJe ;
207  robot.get_eJe(eJe) ;
208  task.set_eJe(eJe) ;
209 
210 
211  vpTRACE("\t we want to see a point on a point..") ;
212  std::cout << std::endl ;
213  task.addFeature(p,pd) ;
214 
215  vpTRACE("\t set the gain") ;
216  task.setLambda(0.8) ;
217 
218  vpTRACE("Display task information " ) ;
219  task.print() ;
220 
222 
223  std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
224  for ( ; ; ) {
225  // Acquire a new image from the camera
226  g.acquire(I) ;
227 
228  // Display this image
229  vpDisplay::display(I) ;
230 
231  // Achieve the tracking of the dot in the image
232  dot.track(I) ;
233 
234  // Get the dot cog
235  cog = dot.getCog();
236 
237  // Display a green cross at the center of gravity position in the image
239 
240  // Update the point feature from the dot location
241  vpFeatureBuilder::create(p, cam, dot);
242 
243  // Get the jacobian of the robot
244  robot.get_eJe(eJe) ;
245  // Update this jacobian in the task structure. It will be used to compute
246  // the velocity skew (as an articular velocity)
247  // qdot = -lambda * L^+ * cVe * eJe * (s-s*)
248  task.set_eJe(eJe) ;
249 
250  // std::cout << (vpMatrix)cVe*eJe << std::endl ;
251 
252  vpColVector v ;
253  // Compute the visual servoing skew vector
254  v = task.computeControlLaw() ;
255 
256  // Display the current and desired feature points in the image display
257  vpServoDisplay::display(task, cam, I) ;
258 
259  // Apply the computed joint velocities to the robot
261 
262  // Save velocities applied to the robot in the log file
263  // v[0], v[1], v[2] correspond to joint translation velocities in m/s
264  // v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
265  flog << v[0] << " " << v[1] << " " << v[2] << " "
266  << v[3] << " " << v[4] << " " << v[5] << " ";
267 
268  // Get the measured joint velocities of the robot
269  vpColVector qvel;
271  // Save measured joint velocities of the robot in the log file:
272  // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
273  // velocities in m/s
274  // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
275  // velocities in rad/s
276  flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " "
277  << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
278 
279  // Get the measured joint positions of the robot
280  vpColVector q;
282  // Save measured joint positions of the robot in the log file
283  // - q[0], q[1], q[2] correspond to measured joint translation
284  // positions in m
285  // - q[3], q[4], q[5] correspond to measured joint rotation
286  // positions in rad
287  flog << q[0] << " " << q[1] << " " << q[2] << " "
288  << q[3] << " " << q[4] << " " << q[5] << " ";
289 
290  // Save feature error (s-s*) for the feature point. For this feature
291  // point, we have 2 errors (along x and y axis). This error is expressed
292  // in meters in the camera frame
293  flog << ( task.getError() ).t() << std::endl;
294  vpDisplay::flush(I) ;
295 
296  // vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
297  }
298 
299  flog.close() ; // Close the log file
300 
301  vpTRACE("Display task information " ) ;
302  task.print() ;
303  task.kill();
304  return 0;
305  }
306  catch (...)
307  {
308  flog.close() ; // Close the log file
309  vpERROR_TRACE(" Test failed") ;
310  return 0;
311  }
312 }
313 
314 
315 #else
316 int
317 main()
318 {
319  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
320 }
321 #endif
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Definition of the vpMatrix class.
Definition: vpMatrix.h:96
void get_eJe(vpMatrix &_eJe)
static void display(vpServo &s, const vpCameraParameters &cam, vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
static bool checkDirectory(const char *dirname)
Definition: vpIoTools.cpp:289
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
#define vpERROR_TRACE
Definition: vpDebug.h:379
#define vpTRACE
Definition: vpDebug.h:401
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
Definition: vpAfma6.cpp:1226
Define the X11 console to display images.
Definition: vpDisplayX.h:152
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
Definition: vpServo.cpp:444
void setLambda(double _lambda)
set the gain lambda
Definition: vpServo.h:250
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:787
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
Definition: vpColor.h:168
void acquire(vpImage< unsigned char > &I)
void set_cVe(vpVelocityTwistMatrix &_cVe)
Definition: vpServo.h:227
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:1964
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:214
static void makeDirectory(const char *dirname)
Definition: vpIoTools.cpp:358
void open(vpImage< unsigned char > &I)
vpImagePoint getCog() const
Definition: vpDot.h:249
void kill()
destruction (memory deallocation if required)
Definition: vpServo.cpp:177
Initialize the velocity controller.
Definition: vpRobot.h:70
vpColVector getError() const
Definition: vpServo.h:298
vpColVector computeControlLaw()
compute the desired control law
Definition: vpServo.cpp:883
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:186
void set_eJe(vpMatrix &_eJe)
Definition: vpServo.h:235
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
static std::string getUserName()
Definition: vpIoTools.cpp:136
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void get_cVe(vpVelocityTwistMatrix &_cVe)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
Definition: vpServo.cpp:509
void buildFrom(const double x, const double y, const double Z)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:258
This tracker is meant to track a dot (connex pixels with same gray level) on a vpImage.
Definition: vpDot.h:80
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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 ...
Definition: vpImagePoint.h:92
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class required to compute the visual servoing control law.
Definition: vpServo.h:150
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:638
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
Definition: vpServo.cpp:214
static const vpColor blue
Definition: vpColor.h:171