servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp

/****************************************************************************
 *
 * $Id: servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp 2457 2010-01-07 10:41:18Z nmelchio $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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:
 * Simulation of a 2D visual servoing on a cylinder.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/
#include <visp/vpConfig.h>

#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))

#include <stdlib.h>
#include <stdio.h>

#include <visp/vpCameraParameters.h>
#include <visp/vpCylinder.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpFeatureLine.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpMath.h>
#include <visp/vpParseArgv.h>
#include <visp/vpProjectionDisplay.h>
#include <visp/vpServo.h>
#include <visp/vpSimulatorCamera.h>
#include <visp/vpServoDisplay.h>

// List of allowed command line options
#define GETOPTARGS  "cdh"


void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Simulation of a 2D visual servoing on a cylinder:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view.\n\
          \n\
SYNOPSIS\n\
  %s [-c] [-d] [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
                  \n\
  -c\n\
     Disable the mouse click. Useful to automaze the \n\
     execution of this program without humain intervention.\n\
                  \n\
  -d \n\
     Turn off the display.\n\
                  \n\
  -h\n\
     Print the help.\n");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
  const char *optarg;
  int   c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {

    switch (c) {
    case 'c': click_allowed = false; break;
    case 'd': display = false; break;
    case 'h': usage(argv[0], NULL); return false; break;

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

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    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)
{
  bool opt_display = true;
  bool opt_click_allowed = true;

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

  vpImage<unsigned char> Iint(512,512,0) ;
  vpImage<unsigned char> Iext(512,512,0) ;

  // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
  vpDisplayX displayInt;
  vpDisplayX displayExt;
#elif defined VISP_HAVE_GTK
  vpDisplayGTK displayInt;
  vpDisplayGTK displayExt;
#elif defined VISP_HAVE_GDI
  vpDisplayGDI displayInt;
  vpDisplayGDI displayExt;
#endif

  if (opt_display) {
    try{
      // Display size is automatically defined by the image (Iint) and (Iext) size
      displayInt.init(Iint, 100, 100,"Internal view") ;
      displayExt.init(Iext, (int)(130+Iint.getWidth()), 100, "External view") ;
      // Display the image
      // The image class has a member that specify a pointer toward
      // the display that has been initialized in the display declaration
      // therefore is is no longuer necessary to make a reference to the
      // display variable.
      vpDisplay::display(Iint) ;
      vpDisplay::display(Iext) ;
      vpDisplay::flush(Iint) ;
      vpDisplay::flush(Iext) ;
    }
    catch(...)
    {
      vpERROR_TRACE("Error while displaying the image") ;
      exit(-1);
    }
  }

  vpProjectionDisplay externalview ;

  //Set the camera parameters
  double px, py ; px = py = 600 ;
  double u0, v0 ; u0 = v0 = 256 ;

  vpCameraParameters cam(px,py,u0,v0);

  vpServo task ;
  vpSimulatorCamera robot ;

  // sets the initial camera location
  vpHomogeneousMatrix cMo(-0.2,0.1,2,
                          vpMath::rad(5),  vpMath::rad(5),  vpMath::rad(20));

  vpHomogeneousMatrix wMc, wMo;
  robot.getPosition(wMc) ;
  wMo = wMc * cMo; // Compute the position of the object in the world frame

  // sets the final camera location (for simulation purpose)
  vpHomogeneousMatrix cMod(0,0,1,
                           vpMath::rad(0),  vpMath::rad(0),  vpMath::rad(0));

  // sets the cylinder coordinates in the world frame
  vpCylinder cylinder(0,1,0,  // direction
                      0,0,0,  // point of the axis
                      0.1) ;  // radius

  externalview.insert(cylinder) ;

  // sets the desired position of the visual feature
  cylinder.track(cMod) ;
  cylinder.print() ;

  //Build the desired line features thanks to the cylinder and especially its paramaters in the image frame
  vpFeatureLine ld[2] ;
  int i ;
  for(i=0 ; i < 2 ; i++)
    vpFeatureBuilder::create(ld[i],cylinder,i)  ;

  // computes  the cylinder coordinates in the camera frame and its 2D coordinates
  // sets the current position of the visual feature
  cylinder.track(cMo) ;
  cylinder.print() ;

  //Build the current line features thanks to the cylinder and especially its paramaters in the image frame
  vpFeatureLine l[2] ;
  for(i=0 ; i < 2 ; i++)
  {
    vpFeatureBuilder::create(l[i],cylinder,i)  ;
    l[i].print() ;
  }

  // define the task
  // - we want an eye-in-hand control law
  // - robot is controlled in the camera frame
  task.setServo(vpServo::EYEINHAND_CAMERA) ;
  task.setInteractionMatrixType(vpServo::DESIRED,vpServo::PSEUDO_INVERSE) ;
  //  it can also be interesting to test these possibilities
  // task.setInteractionMatrixType(vpServo::CURRENT,vpServo::PSEUDO_INVERSE) ;
  // task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE) ;
  // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) ;
  // task.setInteractionMatrixType(vpServo::DESIRED,  vpServo::TRANSPOSE) ;
  // task.setInteractionMatrixType(vpServo::CURRENT,  vpServo::TRANSPOSE) ;

  // we want to see  2 lines on 2 lines
  task.addFeature(l[0],ld[0]) ;
  task.addFeature(l[1],ld[1]) ;

  // Set the point of view of the external view
  vpHomogeneousMatrix cextMo(0,0,6,
                             vpMath::rad(40),  vpMath::rad(10),  vpMath::rad(60))   ;

  // Display the initial scene
  vpServoDisplay::display(task,cam,Iint) ;
  externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
  vpDisplay::flush(Iint) ;
  vpDisplay::flush(Iext) ;

  // Display task information
  task.print() ;

  if (opt_display && opt_click_allowed) {
    std::cout << "\n\nClick in the internal camera view window to start..." << std::endl;
    vpDisplay::getClick(Iint) ;
  }

  // set the gain
  task.setLambda(1) ;

  // Display task information
  task.print() ;

  unsigned int iter=0 ;
  // The first loop is needed to reach the desired position
  do
  {
    std::cout << "---------------------------------------------" << iter++ <<std::endl ;
    vpColVector v ;

    // get the robot position
    robot.getPosition(wMc) ;
    // Compute the position of the camera wrt the object frame
    cMo = wMc.inverse() * wMo;

    // new line position
    // retrieve x,y and Z of the vpLine structure
    // Compute the parameters of the cylinder in the camera frame and in the image frame
    cylinder.track(cMo) ;

    //Build the current line features thanks to the cylinder and especially its paramaters in the image frame
    for(i=0 ; i < 2 ; i++)
    {
      vpFeatureBuilder::create(l[i],cylinder,i)  ;
    }

    // Display the current scene
    if (opt_display) {
      vpDisplay::display(Iint) ;
      vpDisplay::display(Iext) ;
      vpServoDisplay::display(task,cam,Iint) ;
      externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
      vpDisplay::flush(Iint);
      vpDisplay::flush(Iext);
    }

    // compute the control law
    v = task.computeControlLaw() ;

    // send the camera velocity to the controller
    robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;

    std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
  }
  while(( task.getError() ).sumSquare() >  1e-9) ;


  // Second loop is to compute the control law while taking into account the secondary task.
  // In this example the secondary task is cut in four steps.
  // The first one consists in impose a movement of the robot along the x axis of the object frame with a velocity of 0.5.
  // The second one consists in impose a movement of the robot along the y axis of the object frame with a velocity of 0.5.
  // The third one consists in impose a movement of the robot along the x axis of the object frame with a velocity of -0.5.
  // The last one consists in impose a movement of the robot along the y axis of the object frame with a velocity of -0.5.
  // Each steps is made during 200 iterations.
  vpColVector e1(6) ; e1 = 0 ;
  vpColVector e2(6) ; e2 = 0 ;
  vpColVector proj_e1 ;
  vpColVector proj_e2 ;
  iter = 0;
  double rapport = 0;
  double vitesse = 0.5;
  unsigned int tempo = 800;

  while(iter < tempo)
  {
    vpColVector v ;

    robot.getPosition(wMc) ;
    // Compute the position of the camera wrt the object frame
    cMo = wMc.inverse() * wMo;

    cylinder.track(cMo) ;

    for(i=0 ; i < 2 ; i++)
    {
      vpFeatureBuilder::create(l[i],cylinder,i)  ;
    }

    if (opt_display) 
    {
      vpDisplay::display(Iint) ;
      vpDisplay::display(Iext) ;
      vpServoDisplay::display(task,cam,Iint) ;
      externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
      vpDisplay::flush(Iint);
      vpDisplay::flush(Iext);
    }

    v = task.computeControlLaw() ;

    if ( iter%tempo < 200  /*&&  iter%tempo >= 0*/)
    {
      e2 = 0;
      e1[0] = fabs(vitesse)  ;
      proj_e1 = task.secondaryTask(e1);
      rapport = vitesse/proj_e1[0];
      proj_e1 *= rapport ;
      v += proj_e1 ;
    }

    if ( iter%tempo < 400 &&  iter%tempo >= 200)
    {
      e1 = 0;
      e2[1] = fabs(vitesse)  ;
      proj_e2 = task.secondaryTask(e2);
      rapport = vitesse/proj_e2[1];
      proj_e2 *= rapport ;
      v += proj_e2 ;
    }

    if ( iter%tempo < 600 &&  iter%tempo >= 400)
    {
      e2 = 0;
      e1[0] = -fabs(vitesse)  ;
      proj_e1 = task.secondaryTask(e1);
      rapport = -vitesse/proj_e1[0];
      proj_e1 *= rapport ;
      v += proj_e1 ;
    }

    if ( iter%tempo < 800 &&  iter%tempo >= 600)
    {
      e1 = 0;
      e2[1] = -fabs(vitesse)  ;
      proj_e2 = task.secondaryTask(e2);
      rapport = -vitesse/proj_e2[1];
      proj_e2 *= rapport ;
      v += proj_e2 ;
    }

    robot.setVelocity(vpRobot::CAMERA_FRAME, v);

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

    iter++;
  }

  if (opt_display && opt_click_allowed) {
    std::cout << "\nClick in the internal camera view window to end..." << std::endl;
    vpDisplay::getClick(Iint) ;
  }

  // Display task information
  task.print() ;
  task.kill();
}

#else
#include <iostream>

int main()
{
  std::cout << "You do not have X11, GTK or GDI display functionalities..." << std::endl;
}

#endif