servoBiclopsPoint2DArtVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the biclops robot (pan-tilt head provided by Traclabs). The velocity is computed in articular. The visual feature is the center of gravity of a point.

/****************************************************************************
 *
 * $Id: servoBiclopsPoint2DArtVelocity.cpp 3798 2012-06-21 15:50:21Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 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 articular
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp/vpTime.h>
#include <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#include <signal.h>
#include <stdlib.h>
#if ( defined (VISP_HAVE_BICLOPS) && (defined (VISP_HAVE_DC1394_2) /*|| defined (VISP_HAVE_DC1394_1)*/ || defined(VISP_HAVE_DIRECTSHOW)) )

#ifdef VISP_HAVE_PTHREAD
#  include <pthread.h>
#endif

#include <visp/vp1394TwoGrabber.h>
//#include <visp/vp1394Grabber.h>
#include <visp/vpDirectShowGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>

#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpPoint.h>
#include <visp/vpServo.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpRobotBiclops.h>
#include <visp/vpIoTools.h>
#include <visp/vpParseArgv.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpDot.h>

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


#ifdef VISP_HAVE_PTHREAD
pthread_mutex_t mutexEndLoop = PTHREAD_MUTEX_INITIALIZER;
#endif

void signalCtrC( int /* signumber */)
{
#ifdef VISP_HAVE_PTHREAD
  pthread_mutex_unlock( &mutexEndLoop );
#endif
  vpTime::wait(10);
  vpTRACE("Ctrl-C pressed...");
}


// List of allowed command line options
#define GETOPTARGS  "c:d:h"

void usage(const char *name, const char *badparam, std::string& conf, std::string& debugdir, std::string& user)
{
  fprintf(stdout, "\n\
  Example of eye-in-hand control law. We control here a real robot, the biclops\n\
  robot (pan-tilt head provided by Traclabs). The velocity is\n\
  computed in articular. The visual feature is the center of gravity of a\n\
  point.\n\
\n\
SYNOPSIS\n\
  %s [-c <Biclops configuration file>] [-d <debug file directory>] [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -c <Biclops configuration file>                      %s\n\
     Sets the biclops robot configuration file.\n\n\
  -d <debug file directory>                            %s\n\
     Sets the debug file directory.\n\
     From this directory, creates the\"%s\"\n\
     subdirectory depending on the username, where\n\
     it writes biclops.txt file.\n", conf.c_str(), debugdir.c_str(), user.c_str());

  if (badparam) {
    fprintf(stderr, "ERROR: \n" );
    fprintf(stderr, "\nBad parameter [%s]\n", badparam);
  }
}
bool getOptions(int argc, const char **argv, std::string& conf, std::string &debugdir, std::string& user)
{
  const char *optarg;
  int   c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {

    switch (c) {
    case 'c': conf = optarg; break;
    case 'd': debugdir = optarg; break;
    case 'h': usage(argv[0], NULL, conf, debugdir, user); return false; break;

    default:
      usage(argv[0], optarg, conf, debugdir, user); return false; break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL, conf, debugdir, user);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg << std::endl << std::endl;
    return false;
  }

  return true;
}



int
main(int argc, const char ** argv)
{
  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 point " << std::endl ;
  std::cout << "-------------------------------------------------------" << std::endl ;
  std::cout << std::endl ;

  try{

#ifdef VISP_HAVE_PTHREAD
    pthread_mutex_lock( &mutexEndLoop );
#endif
    signal( SIGINT,&signalCtrC );

    //default unix configuration file path
    std::string opt_conf = "/usr/share/BiclopsDefault.cfg";

    std::string username;
    std::string debugdir;
    std::string opt_debugdir;

    // Set the default output path
#ifdef UNIX
    opt_debugdir = "/tmp";
#elif WIN32
    opt_debugdir = "C:/temp";
#endif

    // Get the user login name
    vpIoTools::getUserName(username);

    // Read the command line options
    if (getOptions(argc, argv, opt_conf, opt_debugdir , username) == false) {
      exit (-1);
    }

    // Get the option value
    if (!opt_debugdir.empty())
      debugdir = opt_debugdir;

    // Append to the output path string, the login name of the user
    std::string dirname = debugdir + "/" + username;

    // Test if the output path exist. If no try to create it
    if (vpIoTools::checkDirectory(dirname) == false) {
      try {
        // Create the dirname
        vpIoTools::makeDirectory(dirname);
      }
      catch (...) {
        usage(argv[0], NULL, opt_conf, debugdir, username);
        std::cerr << std::endl
                  << "ERROR:" << std::endl;
        std::cerr << "  Cannot create " << dirname << std::endl;
        std::cerr << "  Check your -d " << debugdir << " option " << std::endl;
        exit(-1);
      }
    }

    // Create the debug file: debugdir/$user/biclops.txt
    char *filename = new char[FILENAME_MAX];
    sprintf(filename, "%s/biclops.txt", debugdir.c_str());
    FILE *fd = fopen(filename, "w");

    vpRobotBiclops robot(opt_conf.c_str()) ;
    robot.setDenavitHartenbergModel(vpBiclops::DH2);

    {
      vpColVector q(2); q=0;
      robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
      robot.setPosition( vpRobot::ARTICULAR_FRAME,q );
    }

    vpImage<unsigned char> I ;

#if defined VISP_HAVE_DC1394_2
    vp1394TwoGrabber g;
    // #elif defined VISP_HAVE_DC1394_1
    //     vp1394Grabber g;
#elif defined VISP_HAVE_DIRECTSHOW
    vpDirectShowGrabber g;
#endif

    g.open(I) ;

    try{
      g.acquire(I) ;
    }
    catch(...)
    {
      vpERROR_TRACE(" Error caught") ;
      return(-1) ;
    }

    // We open a window using either X11 or GTK or GDI.
    // Its size is automatically defined by the image (I) size
#if defined VISP_HAVE_X11
    vpDisplayX display(I, 100, 100,"Display X...") ;
#elif defined VISP_HAVE_GTK
    vpDisplayGTK display(I, 100, 100,"Display GTK...") ;
#elif defined WIN32
    vpDisplayGDI display(I, 100, 100,"Display GDI...") ;
#endif

    
    try{
      vpDisplay::display(I) ;
      vpDisplay::flush(I) ;
    }
    catch(...)
    {
      vpERROR_TRACE(" Error caught") ;
      return(-1) ;
    }


    vpServo task ;

    vpDot dot ;

    try{
      std::cout << "Click on a dot to initialize the tracking..." << std::endl;
      dot.setGraphics(true);
      dot.initTracking(I) ;
      dot.track(I);
      vpERROR_TRACE("after dot.initTracking(I) ") ;
    }
    catch(...)
    {
      vpERROR_TRACE(" Error caught") ;
      return(-1) ;
    }

    vpCameraParameters cam ;

    // sets the current position of the visual feature
    vpFeaturePoint p ;
    vpFeatureBuilder::create(p,cam, dot)  ;  //retrieve x,y and Z of the vpPoint structure

    p.set_Z(1) ;
    // sets the desired position of the visual feature
    vpFeaturePoint pd ;
    pd.buildFrom(0,0,1) ;

    // define the task
    // - we want an eye-in-hand control law
    // - articular velocity are computed
    task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
    task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;


    vpTRACE("Set the position of the camera in the end-effector frame ") ;
    vpHomogeneousMatrix cMe ;
    //  robot.get_cMe(cMe) ;

    vpVelocityTwistMatrix cVe ;
    robot.get_cVe(cVe) ;
    std::cout << cVe <<std::endl ;
    task.set_cVe(cVe) ;

    std::cout << "Click in the image to start the servoing..." << std::endl;
    vpDisplay::getClick(I) ;

    // Set the Jacobian (expressed in the end-effector frame)
    vpMatrix eJe ;
    robot.get_eJe(eJe) ;
    task.set_eJe(eJe) ;

    // we want to see a point on a point
    task.addFeature(p,pd) ;

    // set the gain
    task.setLambda(0.2) ;

    // Display task information
    task.print() ;

    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;

    unsigned int iter=0 ;
    vpTRACE("\t loop") ;
#ifdef VISP_HAVE_PTHREAD
    while( 0 != pthread_mutex_trylock( &mutexEndLoop ) )
#else
    for ( ; ; )
#endif
    {
      std::cout << "---------------------------------------------" << iter <<std::endl ;

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

      dot.track(I) ;

      //    vpDisplay::displayCross(I,(int)dot.I(), (int)dot.J(),
      //               10,vpColor::green) ;


      vpFeatureBuilder::create(p,cam, dot);

      // get the jacobian
      robot.get_eJe(eJe) ;
      task.set_eJe(eJe) ;

      //  std::cout << (vpMatrix)cVe*eJe << std::endl ;

      vpColVector v ;
      v = task.computeControlLaw() ;

      vpServoDisplay::display(task,cam,I) ;
      vpDisplay::flush(I) ;

      std::cout << "v: " << v.t() ;
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, v) ;

      std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl;

      {
        vpColVector s_minus_sStar(2);
        s_minus_sStar = task.s - task.sStar;
        fprintf(fd, "%f %f %f %f %f\n",
                v[0], v[1],
                s_minus_sStar[0], s_minus_sStar[1],
                ( task.getError() ).sumSquare());
      }
    }

    std::cout << "Display task information " << std::endl;
    task.print() ;
    task.kill();

    fclose(fd);

  } catch (...) { vpERROR_TRACE("Throw uncatched..."); }

}


#else
int
main()
{
  vpERROR_TRACE("You don't have a biclops head connected to your computer or 1394 framegrabbing capabilities...");
}
#endif