ViSP  2.6.2
servoPtu46Point2DArtVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the ptu-46 robot (pan-tilt head provided by Directed Perception). The velocity is computed in articular. The visual feature is the center of gravity of a point.

/****************************************************************************
*
* $Id: servoPtu46Point2DArtVelocity.cpp 3668 2012-04-04 09:07:10Z 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/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#ifdef UNIX
# include <unistd.h>
#endif
#include <signal.h>
#if (defined(VISP_HAVE_PTU46) & defined (VISP_HAVE_DC1394) )
#ifdef VISP_HAVE_PTHREAD
# include <pthread.h>
#endif
#include <visp/vp1394Grabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.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/vpRobotPtu46.h>
// Exception
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpDot2.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
usleep( 1000*10 );
vpTRACE("Ctrl-C pressed...");
}
int
main()
{
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 );
vpRobotPtu46 robot ;
{
vpColVector q(2); q=0;
}
g.open(I) ;
try{
g.acquire(I) ;
}
catch(...)
{
vpERROR_TRACE(" Error caught") ;
return(-1) ;
}
vpDisplayX display(I,100,100,"testDisplayX.cpp ") ;
vpTRACE(" ") ;
try{
}
catch(...)
{
vpERROR_TRACE(" Error caught") ;
return(-1) ;
}
vpServo task ;
vpDot2 dot ;
try{
vpERROR_TRACE("start dot.initTracking(I) ") ;
int x,y;
dot.set_u( x ) ;
dot.set_v( y ) ;
vpDEBUG_TRACE(25,"Click!");
//dot.initTracking(I) ;
dot.track(I);
vpERROR_TRACE("after dot.initTracking(I) ") ;
}
catch(...)
{
vpERROR_TRACE(" Error caught ") ;
return(-1) ;
}
vpTRACE("sets the current position of the visual feature ") ;
vpFeatureBuilder::create(p,cam, dot) ; //retrieve x,y and Z of the vpPoint structure
p.set_Z(1) ;
vpTRACE("sets the desired position of the visual feature ") ;
pd.buildFrom(0,0,1) ;
vpTRACE("define the task") ;
vpTRACE("\t we want an eye-in-hand control law") ;
vpTRACE("\t articular velocity are computed") ;
vpTRACE("Set the position of the camera in the end-effector frame ") ;
// robot.get_cMe(cMe) ;
robot.get_cVe(cVe) ;
std::cout << cVe <<std::endl ;
task.set_cVe(cVe) ;
vpTRACE("Set the Jacobian (expressed in the end-effector frame)") ;
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
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(0.1) ;
vpTRACE("Display task information " ) ;
task.print() ;
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) ;
dot.track(I) ;
// vpDisplay::displayCross(I,(int)dot.I(), (int)dot.J(),
// 10,vpColor::green) ;
// get the jacobian
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// std::cout << (vpMatrix)cVe*eJe << std::endl ;
v = task.computeControlLaw() ;
std::cout << v.t() ;
vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
}
vpTRACE("Display task information " ) ;
task.print() ;
task.kill();
} catch (...) { vpERROR_TRACE("Trow uncatched..."); }
}
#else
int
main()
{
vpERROR_TRACE("You don't have a ptu-46 head connected to your computer ",
"or 1394 framegrabbing capabilities...");
}
#endif