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

Test Haption Virtuose for testing the force feedback in articular mode. A force is felt when approaching to the Virtuose's joint limits (estimated experimentally).

/****************************************************************************
*
* 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:
* Test for Virtuose SDK wrapper.
*
* Authors:
* Nicolò Pedemonte
*
*****************************************************************************/
#include <visp3/core/vpTime.h>
#include <visp3/robot/vpVirtuose.h>
#if defined(VISP_HAVE_VIRTUOSE)
void CallBackVirtuose(VirtContext VC, void *ptr)
{
(void)VC;
vpVirtuose *p_virtuose = (vpVirtuose *)ptr;
float maxQ[6] = {0.7811045051f, -0.07668215036f, 2.481732368f, 2.819076777f, 1.044736624f, 2.687076807f};
float minQ[6] = {-0.8011951447f, -1.648244739f, 0.7439950705f, -3.022218227f, -1.260564089f, -2.054088593f};
unsigned int numJoint = 6;
vpColVector feedbackRegion(numJoint, 0);
vpColVector forceFeedback(numJoint, 0);
int feedbackRegionFactor = 10;
float saturationForce[6] = {5, 5, 5, 2.5, 2.5, 2.5};
for (unsigned int iter = 0; iter < numJoint; iter++)
feedbackRegion[iter] = (maxQ[iter] - minQ[iter]) / feedbackRegionFactor;
vpColVector currentQ = p_virtuose->getArticularPosition();
// force feedback definition
for (unsigned int iter = 0; iter < numJoint; iter++) {
if (currentQ[iter] >= (maxQ[iter] - feedbackRegion[iter])) {
forceFeedback[iter] =
-saturationForce[iter] * pow((currentQ[iter] - maxQ[iter] + feedbackRegion[iter]) / feedbackRegion[iter], 2);
std::cout << "WARNING! Getting close to the maximum joint limit. Joint #" << iter + 1 << std::endl;
} else if (currentQ[iter] <= (minQ[iter] + feedbackRegion[iter])) {
forceFeedback[iter] =
saturationForce[iter] * pow((minQ[iter] + feedbackRegion[iter] - currentQ[iter]) / feedbackRegion[iter], 2);
std::cout << "WARNING! Getting close to the minimum joint limit. Joint #" << iter + 1 << std::endl;
} else {
forceFeedback[iter] = 0;
std::cout << "Safe zone" << std::endl;
}
}
// Printing force feedback
// std::cout << "Force feedback: " << forceFeedback.t() << std::endl;
// Set force feedback
p_virtuose->setArticularForce(forceFeedback);
return;
}
int main()
{
try {
float period = 0.001f;
vpVirtuose virtuose;
virtuose.setTimeStep(period);
virtuose.setIpAddress("localhost#5000");
virtuose.setVerbose(true);
virtuose.setPowerOn();
// setArticularForce only works in COMMAND_TYPE_ARTICULAR_IMPEDANCE.
virtuose.setCommandType(COMMAND_TYPE_ARTICULAR_IMPEDANCE);
// -----------------------------------------------------------
// Code to obtain (experimentally) the Virtuose joint limits
// -----------------------------------------------------------
/*
// Move the Virtuose in all its workspace while running this code
vpColVector joints(6);
vpColVector max_joint(6,-1000);
vpColVector min_joint(6,1000);
for(unsigned int iter=0; iter<10000; iter++) {
virtuose.getArticularPosition(joints);
for(unsigned int i=0; i<6; i++) {
if (joints[i] > max_joint[i])
max_joint[i] = joints[i];
if (joints[i] < min_joint[i])
min_joint[i] = joints[i];
}
// Printing joint values
std::cout << "Joint values: " << joints.t() << std::endl;
vpTime::wait(10);
}
std::cout << "Max Joint values: " << max_joint.t() << std::endl;
std::cout << "Min Joint values: " << min_joint.t() << std::endl;
// Best Result (small errors are to be expected)
// Max Joint values: 0.7811045051 -0.07668215036 2.481732368
2.819076777 1.044736624 2.687076807
// Min Joint values: -0.8011951447 -1.648244739 0.7439950705
-3.022218227 -1.260564089 -2.054088593
*/
virtuose.setPeriodicFunction(CallBackVirtuose);
int counter = 0;
bool swtch = true;
while (swtch) {
if (counter >= 10) {
virtuose.setPowerOff();
swtch = false;
}
counter++;
}
std::cout << "The end" << std::endl;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
}
}
#else
int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
#endif