Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
servoAfma6Segment2DCamVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in camera frame. The visual feature is the segment between two points.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in the camera frame
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#include <stdlib.h>
#include <vector>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureSegment.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
int main()
{
// Log file creation in /tmp/$USERNAME/log.dat
// This file contains by line:
// - the 6 computed cam velocities (m/s, rad/s) to achieve the task
// - the 6 mesured joint velocities (m/s, rad/s)
// - the 6 mesured joint positions (m, rad)
// - the 2 values of s - s*
std::string username;
// Get the user login name
// Create a log filename to save velocities...
std::string logdirname;
logdirname = "/tmp/" + username;
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(logdirname) == false) {
try {
// Create the dirname
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
exit(-1);
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
// Open the log file name
std::ofstream flog(logfilename.c_str());
try {
vpServo task;
g.open(I);
g.acquire(I);
#ifdef VISP_HAVE_X11
vpDisplayX display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I, 100, 100, "Current image");
#endif
std::vector<vpDot> dot_d(2), dot(2);
vpFeatureSegment seg_d, seg;
vpRobotAfma6 robot;
// Update camera parameters
robot.getCameraParameters(cam, I);
std::cout << "define the initial segment" << std::endl;
for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
std::cout << "Click on a dot..." << std::endl;
i->initTracking(I);
cog = i->getCog();
}
vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
seg.display(cam, I, vpColor::red);
std::cout << "define the destination segment" << std::endl;
for (std::vector<vpDot>::iterator i = dot_d.begin(); i != dot_d.end(); ++i) {
*i = vpDot(ip);
}
vpFeatureBuilder::create(seg_d, cam, dot_d[0], dot_d[1]);
seg_d.setZ1(1.);
seg_d.setZ2(1.);
seg_d.display(cam, I);
// define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
// - we want to see both segments
task.addFeature(seg, seg_d);
// - set the constant gain
task.setLambda(0.8);
// Display task information
task.print();
// Now the robot will be controlled in velocity
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for (;;) {
// Acquire a new image from the camera
g.acquire(I);
// Display this image
// Achieve the tracking of the dot in the image
for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
i->track(I);
}
// Update the segment feature from the dot locations
vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
// Compute the visual servoing skew vector
v = task.computeControlLaw();
// Display the current and desired feature segments in the image display
vpServoDisplay::display(task, cam, I);
// Apply the computed joint velocities to the robot
// Save feature error (s-s*) for the feature segment. For this feature
// segments, we have 4 errors (Xc,Yc,l,alpha).
flog << (task.getError()).t() << std::endl;
// Flush the display
}
flog.close(); // Close the log file
// Display task information
task.print();
// Kill the task
task.kill();
return EXIT_SUCCESS;
}
catch (const vpException &e) {
flog.close(); // Close the log file
std::cout << "Test failed with exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif