servoAfma6Line2DCamVelocity.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 the camera frame. The visual feature is a line.

/****************************************************************************
 *
 * $Id: servoAfma6Line2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Eric Marchand
 *
 *****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#include <stdlib.h>
#if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))

#include <visp/vp1394TwoGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGTK.h>

#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeatureLine.h>
#include <visp/vpLine.h>
#include <visp/vpMeLine.h>
#include <visp/vpServo.h>
#include <visp/vpFeatureBuilder.h>

#include <visp/vpRobotAfma6.h>

// Exception
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
#include <visp/vpServoDisplay.h>

int
main()
{
  try
  {
    vpImage<unsigned char> I ;

    vp1394TwoGrabber g;
    g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
    g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);

    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

    vpDisplay::display(I) ;
    vpDisplay::flush(I) ;


    vpServo task ;


    std::cout << std::endl ;
    std::cout << "-------------------------------------------------------" << std::endl ;
    std::cout << " Test program for vpServo "  <<std::endl ;
    std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
    std::cout << " Simulation " << std::endl ;
    std::cout << " task : servo a line " << std::endl ;
    std::cout << "-------------------------------------------------------" << std::endl ;
    std::cout << std::endl ;


    vpMeLine line ;

    vpMe me ;
    me.setRange(10) ;
    me.setPointsToTrack(100) ;
    me.setThreshold(100000) ;
    me.setSampleStep(10);
    line.setDisplay(vpMeSite::RANGE_RESULT) ;


    line.setMe(&me) ;

    //Initialize the tracking. Define the line to track.
    line.initTracking(I) ;
    line.track(I) ;

    vpRobotAfma6 robot ;
    //  robot.move("pos-init.pos") ;

    vpCameraParameters cam ;
    // Update camera parameters
    robot.getCameraParameters (cam, I);

    vpTRACE("sets the current position of the visual feature ") ;
    vpFeatureLine p ;
    vpFeatureBuilder::create(p,cam, line)  ;

    vpTRACE("sets the desired position of the visual feature ") ;
    vpLine lined;
    lined.setWorldCoordinates(1,0,0,0,0,0,1,0);
    vpHomogeneousMatrix cMo(0,0,0.3,0,0,vpMath::rad(0));
    lined.project(cMo);
    lined.setRho(-fabs(lined.getRho()));
    lined.setTheta(0);

    vpFeatureLine pd ;
    vpFeatureBuilder::create(pd,lined);

    vpTRACE("define the task") ;
    vpTRACE("\t we want an eye-in-hand control law") ;
    vpTRACE("\t robot is controlled in the camera frame") ;
    task.setServo(vpServo::EYEINHAND_CAMERA) ;

    vpTRACE("\t we want to see a point on a point..") ;
    std::cout << std::endl ;
    task.addFeature(p,pd) ;

    vpTRACE("\t set the gain") ;
    task.setLambda(0.2) ;


    vpTRACE("Display task information " ) ;
    task.print() ;


    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;

    unsigned int iter=0 ;
    vpTRACE("\t loop") ;
    vpColVector v ;
    for ( ; ; )
    {
      std::cout << "---------------------------------------------" << iter <<std::endl ;

      try {
        g.acquire(I) ;
        vpDisplay::display(I) ;

        //Track the line
        line.track(I) ;
        line.display(I, vpColor::red) ;

        //Update the current line feature
        vpFeatureBuilder::create(p,cam,line);

        //displqy the current and the desired features
        p.display(cam, I,  vpColor::red) ;
        pd.display(cam, I,  vpColor::green) ;

        v = task.computeControlLaw() ;

        vpDisplay::flush(I) ;
        if (iter==0)  vpDisplay::getClick(I) ;
        robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
      }
      catch(...)
        {
          v =0 ;
          robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
          robot.stopMotion() ;
          exit(1) ;
        }

      vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
      iter++;
    }

    vpTRACE("Display task information " ) ;
    task.print() ;
    task.kill();
  }
  catch (...)
  {
    vpERROR_TRACE(" Test failed") ;
    return 0;
  }
}

#else
int
main()
{
  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
}

#endif