#include <vpServo.h>

Public Types
enum	vpServoType { NONE, EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fVe_eJe, EYETOHAND_L_cVf_fJe }

enum	vpServoIteractionMatrixType { CURRENT, DESIRED, MEAN, USER_DEFINED }

enum	vpServoInversionType { TRANSPOSE, PSEUDO_INVERSE }

enum	vpServoPrintType { ALL, CONTROLLER, ERROR_VECTOR, FEATURE_CURRENT, FEATURE_DESIRED, GAIN, INTERACTION_MATRIX, MINIMUM }

Public Member Functions
	vpServo ()

	vpServo (vpServoType _servoType)

virtual	~vpServo ()

vpVelocityTwistMatrix	get_cVe () const

vpVelocityTwistMatrix	get_cVf () const

vpVelocityTwistMatrix	set_fVe () const

vpMatrix	get_eJe () const

vpMatrix	get_fJe () const

void	kill ()

void	setServo (vpServoType _servo_type)

void	set_cVe (vpVelocityTwistMatrix &_cVe)

void	set_cVf (vpVelocityTwistMatrix &_cVf)

void	set_fVe (vpVelocityTwistMatrix &_fVe)

void	set_cVe (vpHomogeneousMatrix &cMe)

void	set_cVf (vpHomogeneousMatrix &cMf)

void	set_fVe (vpHomogeneousMatrix &fMe)

void	set_eJe (vpMatrix &_eJe)

void	set_fJe (vpMatrix &_fJe)

void	setInteractionMatrixType (const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)

void	setForceInteractionMatrixComputation (bool forceInteractionMatrixComputation)

void	setLambda (double _lambda)

void	setLambda (const double at_zero, const double at_infinity, const double deriv_at_zero)

void	setLambda (const vpAdaptiveGain &_l)

void	addFeature (vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)

void	addFeature (vpBasicFeature &s, const unsigned int select=vpBasicFeature::FEATURE_ALL)

vpMatrix	computeInteractionMatrix ()

vpColVector	computeError ()

vpColVector	computeControlLaw ()

bool	testInitialization ()

bool	testUpdated ()

vpColVector	secondaryTask (vpColVector &de2dt)

vpColVector	secondaryTask (vpColVector &e2, vpColVector &de2dt)

unsigned int	getDimension ()

vpColVector	getError () const

vpMatrix	getInteractionMatrix ()

vpMatrix	getI_WpW () const

vpServoType	getServoType () const

vpMatrix	getTaskJacobian () const

vpMatrix	getTaskJacobianPseudoInverse () const

double	getTaskRank () const

vpColVector	getTaskSingularValues ()

vpMatrix	getWpW () const

void	print (const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)

Public Attributes
vpMatrix	L

vpColVector	error

vpMatrix	J1

vpMatrix	J1p

vpColVector	s

vpColVector	sStar

vpColVector	e1

vpColVector	e

vpColVector	q_dot

vpColVector	v

vpServoType	servoType

unsigned int	rankJ1

vpList< vpBasicFeature * >	featureList

vpList< vpBasicFeature * >	desiredFeatureList

vpList< unsigned int >	featureSelectionList

vpAdaptiveGain	lambda

int	signInteractionMatrix

vpServoIteractionMatrixType	interactionMatrixType

vpServoInversionType	inversionType

Protected Member Functions
void	init ()

Protected Attributes
vpVelocityTwistMatrix	cVe

bool	init_cVe

vpVelocityTwistMatrix	cVf

bool	init_cVf

vpVelocityTwistMatrix	fVe

bool	init_fVe

vpMatrix	eJe

bool	init_eJe

vpMatrix	fJe

bool	init_fJe

bool	errorComputed

bool	interactionMatrixComputed

unsigned int	dim_task

bool	taskWasKilled

bool	forceInteractionMatrixComputation

vpMatrix	WpW

vpMatrix	I_WpW

vpColVector	sv

Detailed Description

Class required to compute the visual servoing control law descbribed in [1] and [2].

Warning: To avoid potential memory leaks, it is mendatory to call explicitly the kill() function to destroy the task. Otherwise, the destructor ~vpServo() launch an exception vpServoException::notKilledProperly.

To learn how to use this class, we suggest first to follow the Tutorial: Image-based visual servo.

The example below shows how to build a position-based visual servo from 3D visual features $s=({^{c^*}}t_c,\theta u)$ . In that case, we have $s^* = 0$ . Let us denote $\theta u$ the angle/axis parametrization of the rotation ${^{c^*}}R_c$ . Moreover, ${^{c^*}}t_c$ and ${^{c^*}}R_c$ represent respectively the translation and the rotation between the desired camera frame and the current one obtained by pose estimation (see vpPose class).

#include <visp/vpColVector.h>
#include <visp/vpFeatureThetaU.h>
#include <visp/vpFeatureTranslation.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>
#include <visp/vpServo.h>
int main()
{
  // Creation of an homogeneous matrix that represent the displacement
  // the camera has to achieve to move from the desired camera frame
  // and the current one
  vpHomogeneousMatrix cdMc;
  // ... cdMc is here the result of a pose estimation
  // Creation of the current visual feature s = (c*_t_c, ThetaU)
  vpFeatureTranslation s_t(vpFeatureTranslation::cdMc);
  vpFeatureThetaU s_tu(vpFeatureThetaU::cdRc);
  // Set the initial values of the current visual feature s = (c*_t_c, ThetaU)
  s_t.buildFrom(cdMc);
  s_tu.buildFrom(cdMc);
  // Build the desired visual feature s* = (0,0)
  vpFeatureTranslation s_star_t(vpFeatureTranslation::cdMc); // Default initialization to zero 
  vpFeatureThetaU s_star_tu(vpFeatureThetaU::cdRc);// Default initialization to zero 
  vpColVector v; // Camera velocity
  double error;  // Task error
  // Creation of the visual servo task.
  vpServo task;
  // Visual servo task initialization
  // - Camera is monted on the robot end-effector and velocities are
  //   computed in the camera frame
  task.setServo(vpServo::EYEINHAND_CAMERA); 
  // - Interaction matrix is computed with the current visual features s
  task.setInteractionMatrixType(vpServo::CURRENT); 
  // - Set the contant gain to 1
  task.setLambda(1);
  // - Add current and desired translation feature
  task.addFeature(s_t, s_star_t); 
  // - Add current and desired ThetaU feature for the rotation
  task.addFeature(s_tu, s_star_tu); 
  // Visual servoing loop. The objective is here to update the visual
  // features s = (c*_t_c, ThetaU), compute the control law and apply
  // it to the robot
  do {
    // ... cdMc is here the result of a pose estimation
    // Update the current visual feature s
    s_t.buildFrom(cdMc);  // Update translation visual feature
    s_tu.buildFrom(cdMc); // Update ThetaU visual feature
    v = task.computeControlLaw(); // Compute camera velocity skew
    error =  ( task.getError() ).sumSquare(); // error = s^2 - s_star^2
  } while (error > 0.0001); // Stop the task when current and desired visual features are close
  // A call to kill() is requested here to destroy properly the current
  // and desired feature lists.
  task.kill();
}

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeature.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 153 of file vpServo.h.

Member Enumeration Documentation

enum vpServo::vpServoInversionType

Enumerator
TRANSPOSE
PSEUDO_INVERSE

Definition at line 177 of file vpServo.h.

enum vpServo::vpServoIteractionMatrixType

Enumerator
CURRENT
DESIRED
MEAN
USER_DEFINED

Definition at line 169 of file vpServo.h.

enum vpServo::vpServoPrintType

Enumerator
ALL	Print all the task information.
CONTROLLER	Print the type of controller law.
ERROR_VECTOR	Print the error vector .
FEATURE_CURRENT	Print the current features .
FEATURE_DESIRED	Print the desired features .
GAIN	Print the gain $\lambda$ .
INTERACTION_MATRIX	Print the interaction matrix.
MINIMUM	Same as vpServoPrintType::ERROR_VECTOR.

Definition at line 183 of file vpServo.h.

enum vpServo::vpServoType

Enumerator
NONE
EYEINHAND_CAMERA
EYEINHAND_L_cVe_eJe
EYETOHAND_L_cVe_eJe
EYETOHAND_L_cVf_fVe_eJe
EYETOHAND_L_cVf_fJe

Definition at line 159 of file vpServo.h.

Constructor & Destructor Documentation

vpServo::vpServo ( )

Default constructor.

By default:

the interaction matrix is computed with the desired features ( $L=L_{s^*}$ ). With setInteractionMatrixType() you can also use the interaction matrix with the current visual features , or the mean $(L_s / 2 + L_{s^*} / 2)$ .
the control law is build from the pseudo inverse of the interaction matrix $v = - \lambda \; L^+ \; e$ . With setInteractionMatrixType() can also set the usage of the transpose $v = \lambda \; L^t \; e$ .

Definition at line 77 of file vpServo.cpp.

References init().

vpServo::vpServo ( vpServoType _servoType )

constructor with Choice of the visual servoing control law

Definition at line 82 of file vpServo.cpp.

References setServo().

vpServo::~vpServo ( )

virtual

destructor

Destructor.

In fact, it does nothing. You have to call kill() to destroy the current and desired feature lists.

See also: kill()

Definition at line 98 of file vpServo.cpp.

References taskWasKilled, and vpTRACE.

Member Function Documentation

void vpServo::addFeature	(	vpBasicFeature &	s,
		vpBasicFeature &	s_star,
		const unsigned int	select = `vpBasicFeature::FEATURE_ALL`
	)

create a new ste of two visual features

create a new set of 2 features in the task

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeature.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 444 of file vpServo.cpp.

References desiredFeatureList, featureList, featureSelectionList, and s.

void vpServo::addFeature	(	vpBasicFeature &	s,
		const unsigned int	select = `vpBasicFeature::FEATURE_ALL`
	)

create a new ste of two visual features

create a new visual features in the task (the desired feature is then null)

Definition at line 456 of file vpServo.cpp.

References desiredFeatureList, vpBasicFeature::duplicate(), featureList, featureSelectionList, vpBasicFeature::init(), s, vpBasicFeature::setDeallocate(), and vpBasicFeature::vpServo.

vpColVector vpServo::computeControlLaw ( )

compute the desired control law

Compute the control law according to the equation:

$-\lambda {\bf W^+W\widehat J_s^+(s-s^*)}$

or

$-\lambda {\bf\widehat J_s^+(s-s^*)}$

if the dimension of the task is equal to number of available degrees of freedom (in that case ${\bf W^+W = I}$ )

in this equation Js is function of the interaction matrix and of the robot Jacobian. It is also built according to the chosen configuration eye-in-hand or eye-to-hand (see vpServo::setServo method)

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 883 of file vpServo.cpp.

References computeError(), computeInteractionMatrix(), cVe, cVf, e, e1, eJe, error, EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, fJe, fVe, vpMatrix::getCols(), I_WpW, init_cVe, init_eJe, init_fJe, init_fVe, inversionType, J1, J1p, lambda, NONE, PSEUDO_INVERSE, vpMatrix::pseudoInverse(), rankJ1, vpMatrix::resize(), vpServoException::servoError, servoType, vpMatrix::setIdentity(), signInteractionMatrix, sv, vpMatrix::t(), testInitialization(), testUpdated(), vpERROR_TRACE, and WpW.

vpColVector vpServo::computeError ( )

Compute the error $(s - s^*)$ between the current set of visual features $s$ and the desired set of visual features $s^*$ .

Returns: The error . To access to the computed error you can also use the public vpServo::error class member.

Definition at line 682 of file vpServo.cpp.

References desiredFeatureList, dim_task, vpList< type >::empty(), vpBasicFeature::error(), error, errorComputed, vpList< type >::front(), vpBasicFeature::get_s(), vpMatrix::getRows(), vpList< type >::next(), vpServoException::noFeatureError, vpList< type >::outside(), vpColVector::resize(), s, sStar, vpList< type >::value(), vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by computeControlLaw().

vpMatrix vpServo::computeInteractionMatrix ( )

compute the interaction matrix related to the set of visual features

Compute the interaction matrix related to the set of visual features.

Returns: Ls

Definition at line 590 of file vpServo.cpp.

References CURRENT, DESIRED, desiredFeatureList, dim_task, forceInteractionMatrixComputation, vpMatrix::getCols(), vpMatrix::getRows(), interactionMatrixComputed, interactionMatrixType, L, MEAN, USER_DEFINED, and vpERROR_TRACE.

Referenced by computeControlLaw().

vpVelocityTwistMatrix vpServo::get_cVe ( ) const

inline

Return the velocity twist matrix used to transform a velocity skew vector from end-effector frame into the camera frame.

Definition at line 206 of file vpServo.h.

vpVelocityTwistMatrix vpServo::get_cVf ( ) const

inline

Return the velocity twist matrix used to transform a velocity skew vector from robot fixed frame (also called world or base frame) into the camera frame.

Definition at line 210 of file vpServo.h.

vpMatrix vpServo::get_eJe ( ) const

inline

Return the robot jacobian expressed in the end-effector frame.

Definition at line 218 of file vpServo.h.

vpMatrix vpServo::get_fJe ( ) const

inline

Return the robot jacobian expressed in the robot fixed frame (also called world or base frame).

Definition at line 222 of file vpServo.h.

unsigned int vpServo::getDimension ( )

Return the task dimension.

get the task dimension

Definition at line 486 of file vpServo.cpp.

References dim_task, featureList, featureSelectionList, vpList< type >::front(), vpBasicFeature::getDimension(), vpList< type >::next(), vpList< type >::outside(), and vpList< type >::value().

vpColVector vpServo::getError ( ) const

inline

Return the error $(s - s^*)$ between the current set of visual features $s$ and the desired set of visual features $s^*$ . The error vector is updated after a call of computeError() or computeControlLaw().

vpServo task;
...
vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
vpColVector e = task.getError();          // Get the error vector

Examples:: manServoMomentsSimple.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 301 of file vpServo.h.

Referenced by vpServoData::save().

vpMatrix vpServo::getI_WpW ( ) const

inline

Return the projection operator ${\bf I}-{\bf W}^+{\bf W}$ . This operator is updated after a call of computeControlLaw().

vpServo task;
...
vpColVector  v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
vpMatrix I_WpW = task.getI_WpW();          // Get the projection operator

See also: getWpW()

Definition at line 334 of file vpServo.h.

vpMatrix vpServo::getInteractionMatrix ( )

inline

Definition at line 317 of file vpServo.h.

vpServoType vpServo::getServoType ( ) const

inline

Return the visual servo type.

Definition at line 341 of file vpServo.h.

vpMatrix vpServo::getTaskJacobian ( ) const

inline

Return the task jacobian $J_1$ . The task jacobian is updated after a call of computeControlLaw().

In the general case, the task jacobian is given by $J_1 = L {^c}V_a {^a}J_e$ .

vpServo task;
...
vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
vpMatrix   J1 = task.getTaskJacobian();   // Get the task jacobian used to compute v

See also: getTaskJacobianPseudoInverse(), getInteractionMatrix()

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp.

Definition at line 357 of file vpServo.h.

vpMatrix vpServo::getTaskJacobianPseudoInverse ( ) const

inline

Return the pseudo inverse of the task jacobian $J_1$ . The task jacobian and its pseudo inverse are updated after a call of computeControlLaw().

Returns: Pseudo inverse ${J_1}^{+}$ of the task jacobian.
vpServo task;

...

vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing

vpMatrix J1p = task.getTaskJacobianPseudoInverse(); // Get the pseudo inverse of task jacobian used to compute v

See also: getTaskJacobian()

Definition at line 375 of file vpServo.h.

double vpServo::getTaskRank ( ) const

inline

Return the rank of the task jacobian. The rank is updated after a call of computeControlLaw().

vpServo task;
...
vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
double   rank = task.getTaskRank();       // Get the rank of the task jacobian

Examples:: servoAfma6Ellipse2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocity.cpp, and simulateCircle2DCamVelocity.cpp.

Definition at line 389 of file vpServo.h.

vpColVector vpServo::getTaskSingularValues ( )

inline

Get task singular values.

Returns: Singular values that relies on the task jacobian pseudo inverse.

Definition at line 399 of file vpServo.h.

vpMatrix vpServo::getWpW ( ) const

inline

Return the projection operator ${\bf W}^+{\bf W}$ . This operator is updated after a call of computeControlLaw().

vpServo task;
...
vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
vpMatrix  WpW = task.getWpW();            // Get the projection operator

See also: getI_WpW()

Definition at line 416 of file vpServo.h.

void vpServo::init ( void )

protected

basic initialization

Initialize the servo.

By default:

the interaction matrix is computed with the desired features ( $L=L_{s^*}$ ). With setInteractionMatrixType() you can also use the interaction matrix with the current visual features , or the mean $(L_s / 2 + L_{s^*} / 2)$ .
the control law is build from the pseudo inverse of the interaction matrix $v = - \lambda \; L^+ \; e$ . With setInteractionMatrixType() can also set the usage of the transpose $v = \lambda \; L^t \; e$ .

Definition at line 128 of file vpServo.cpp.

References DESIRED, desiredFeatureList, dim_task, errorComputed, featureList, featureSelectionList, forceInteractionMatrixComputation, init_cVe, init_cVf, init_eJe, init_fJe, init_fVe, interactionMatrixComputed, interactionMatrixType, inversionType, vpList< type >::kill(), NONE, PSEUDO_INVERSE, servoType, signInteractionMatrix, and taskWasKilled.

Referenced by vpServo().

void vpServo::kill ( )

destruction (memory deallocation if required)

Task destruction. Kill the current and desired visual feature lists.

It is mendatory to call explicitly this function to avoid potential memory leaks.

vpServo task ;
vpFeatureThetaU s;
...
task.addFeature(s); // Add current ThetaU feature
task.kill(); // A call to kill() is requested here

Examples:: manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeature.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 177 of file vpServo.cpp.

References desiredFeatureList, featureList, vpList< type >::front(), vpBasicFeature::getDeallocate(), vpList< type >::kill(), vpList< type >::next(), vpList< type >::outside(), taskWasKilled, vpList< type >::value(), and vpBasicFeature::vpServo.

void vpServo::print	(	const vpServo::vpServoPrintType	displayLevel = `ALL`,
		std::ostream &	os = `std::cout`
	)

Prints on os stream information about the task:

Parameters

displayLevel	: If vpServo::ALL prints Type of control law (eye-in-hand, eye-to-hand) Control frame (camera frame, joint space) List of current visual features : s List of desired visual features : s* Interaction Matrix Ls Error vector (s-s*) Gain of the controller
displayLevel	: If vpServo::MINIMUM prints only the error vector (s-s*).
os	: Output stream.

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 258 of file vpServo.cpp.

References ALL, CONTROLLER, desiredFeatureList, error, ERROR_VECTOR, errorComputed, EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, FEATURE_CURRENT, FEATURE_DESIRED, featureList, featureSelectionList, vpList< type >::front(), GAIN, INTERACTION_MATRIX, interactionMatrixComputed, L, lambda, MINIMUM, vpList< type >::next(), NONE, vpList< type >::outside(), vpBasicFeature::print(), s, servoType, vpColVector::t(), and vpList< type >::value().

vpColVector vpServo::secondaryTask ( vpColVector & de2dt )

Add a secondary task.

Compute the secondary task according to the projection operator. See equation (7) of the IEEE RA magazine, dec 2005 paper.

Warning: computeControlLaw() must be call prior to this function.

Compute the vector:

$+ ({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}$

to be added to the primary task

$-\lambda {\bf W^+W\widehat J_s^+(s-s^*)}$

which is computed using the computeControlLaw() method.

Warning: The projection operator $\bf W^+W$ is computed in computeControlLaw() which must be called prior to this function.

See also: computeControlLaw()

Examples:: servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp.

Definition at line 1053 of file vpServo.cpp.

References vpMatrix::getCols(), I_WpW, J1, vpServoException::noDofFree, rankJ1, vpMatrix::resize(), vpMatrix::setIdentity(), vpERROR_TRACE, and WpW.

vpColVector vpServo::secondaryTask	(	vpColVector &	e2,
		vpColVector &	de2dt
	)

Add a secondary task.

Compute the secondary task according to the projection operator. See equation (7) of the IEEE RA magazine, dec 2005 paper.

Warning: computeControlLaw() must be call prior to this function.

Compute the vector:

$-\lambda ({\bf I-W^+W}) {\bf e_2} + ({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}$

to be added to the primary task

$-\lambda {\bf W^+W\widehat J_s^+(s-s^*)}$

which is computed using computeControlLaw() method

Warning: The projection operator $\bf W^+W$ is computed in computeControlLaw() which must be called prior to this function.

See also: computeControlLaw()

Definition at line 1101 of file vpServo.cpp.

References e1, vpMatrix::getCols(), I_WpW, J1, lambda, vpServoException::noDofFree, rankJ1, vpMatrix::resize(), vpMatrix::setIdentity(), vpERROR_TRACE, and WpW.

void vpServo::set_cVe ( vpVelocityTwistMatrix & _cVe )

inline

Examples:: manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuSphere.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 230 of file vpServo.h.

Referenced by setServo().

void vpServo::set_cVe ( vpHomogeneousMatrix & cMe )

inline

Definition at line 234 of file vpServo.h.

void vpServo::set_cVf ( vpVelocityTwistMatrix & _cVf )

inline

Definition at line 231 of file vpServo.h.

void vpServo::set_cVf ( vpHomogeneousMatrix & cMf )

inline

Definition at line 235 of file vpServo.h.

void vpServo::set_eJe ( vpMatrix & _eJe )

inline

Examples:: manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuSphere.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 238 of file vpServo.h.

Referenced by setServo().

void vpServo::set_fJe ( vpMatrix & _fJe )

inline

Definition at line 239 of file vpServo.h.

vpVelocityTwistMatrix vpServo::set_fVe ( ) const

inline

Return the velocity twist matrix used to transform a velocity skew vector from robot end-effector frame into the fixed frame (also called world or base frame).

Definition at line 214 of file vpServo.h.

void vpServo::set_fVe ( vpVelocityTwistMatrix & _fVe )

inline

Definition at line 232 of file vpServo.h.

void vpServo::set_fVe ( vpHomogeneousMatrix & fMe )

inline

Definition at line 236 of file vpServo.h.

void vpServo::setForceInteractionMatrixComputation ( bool forceInteractionMatrixComputation )

inline

Set a variable which enable to compute the interaction matrix for each iteration.

Parameters

forceInteractionMatrixComputation If true it forces the interaction matrix computation even if it is already done.

Definition at line 250 of file vpServo.h.

void vpServo::setInteractionMatrixType	(	const vpServoIteractionMatrixType &	interactionMatrixType,
		const vpServoInversionType &	interactionMatrixInversion = `PSEUDO_INVERSE`
	)

Set the type of the interaction matrix (current, mean, desired, user).

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuSphere.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 509 of file vpServo.cpp.

References interactionMatrixType, and inversionType.

void vpServo::setLambda ( double _lambda )

inline

set the gain lambda

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 253 of file vpServo.h.

void vpServo::setLambda	(	const double	at_zero,
		const double	at_infinity,
		const double	deriv_at_zero
	)

inline

Definition at line 254 of file vpServo.h.

void vpServo::setLambda ( const vpAdaptiveGain & _l )

inline

Definition at line 258 of file vpServo.h.

void vpServo::setServo ( vpServoType _servo_type )

Choice of the visual servoing control law.

Examples:: manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionDesired.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 214 of file vpServo.cpp.

References vpMatrix::eye(), EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, servoType, set_cVe(), set_eJe(), and signInteractionMatrix.

Referenced by vpServo().

bool vpServo::testInitialization ( )

test if all the initialization are correct if true control law can be computed

Definition at line 796 of file vpServo.cpp.

References EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, init_cVe, init_cVf, init_eJe, init_fJe, init_fVe, NONE, vpServoException::servoError, servoType, and vpERROR_TRACE.

Referenced by computeControlLaw().

bool vpServo::testUpdated ( )

test if all the update are correct if true control law can be computed

Definition at line 831 of file vpServo.cpp.

References EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, init_cVe, init_eJe, init_fJe, init_fVe, NONE, vpServoException::servoError, servoType, and vpERROR_TRACE.

Referenced by computeControlLaw().

Member Data Documentation

vpVelocityTwistMatrix vpServo::cVe

protected

Twist transformation matrix between Re and Rc.

Definition at line 490 of file vpServo.h.

Referenced by computeControlLaw().

vpVelocityTwistMatrix vpServo::cVf

protected

Twist transformation matrix between Rf and Rc.

Definition at line 493 of file vpServo.h.

Referenced by computeControlLaw().

vpList<vpBasicFeature *> vpServo::desiredFeatureList

List of desired visual features (produce $s^*$ )

Definition at line 467 of file vpServo.h.

Referenced by addFeature(), computeError(), computeInteractionMatrix(), vpServoDisplay::display(), init(), kill(), and print().

unsigned int vpServo::dim_task

protected

dimension of the task

Definition at line 519 of file vpServo.h.

Referenced by computeError(), computeInteractionMatrix(), getDimension(), and init().

vpColVector vpServo::e

Task $e = e_1 + (I-{J_1}^{+} J_1) e_2$ .

Definition at line 450 of file vpServo.h.

Referenced by computeControlLaw().

vpColVector vpServo::e1

Primary task $e_1 = {J_1}^{+}(s-s*)$ .

Definition at line 448 of file vpServo.h.

Referenced by computeControlLaw(), and secondaryTask().

vpMatrix vpServo::eJe

protected

Jacobian expressed in the end-effector frame.

Definition at line 504 of file vpServo.h.

Referenced by computeControlLaw().

vpColVector vpServo::error

Error $(s - s^*)$ between the current set of visual features $s$ and the desired set of visual features $s^*$ . This vector is updated after a call of computeError() or computeControlLaw().