#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 ()

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)

vpColVector	computeControlLaw ()

vpColVector	computeControlLaw (double t)

vpColVector	computeControlLaw (double t, const vpColVector &e_dot_init)

vpColVector	computeError ()

vpMatrix	computeInteractionMatrix ()

unsigned int	getDimension () const

vpColVector	getError () const

vpMatrix	getInteractionMatrix () const

vpMatrix	getI_WpW () const

vpServoType	getServoType () const

vpMatrix	getTaskJacobian () const

vpMatrix	getTaskJacobianPseudoInverse () const

unsigned int	getTaskRank () const

vpColVector	getTaskSingularValues () const

vpMatrix	getWpW () const

vpVelocityTwistMatrix	get_cVe () const

vpVelocityTwistMatrix	get_cVf () const

vpVelocityTwistMatrix	get_fVe () const

vpMatrix	get_eJe () const

vpMatrix	get_fJe () const

void	kill ()

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

vpColVector	secondaryTask (const vpColVector &de2dt)

vpColVector	secondaryTask (const vpColVector &e2, const vpColVector &de2dt)

void	setForceInteractionMatrixComputation (bool force_computation)

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

void	setLambda (double c)

void	setLambda (const double gain_at_zero, const double gain_at_infinity, const double slope_at_zero)

void	setLambda (const vpAdaptiveGain &l)

void	setMu (double mu_)

void	setServo (const vpServoType &servo_type)

void	set_cVe (const vpVelocityTwistMatrix &cVe_)

void	set_cVe (const vpHomogeneousMatrix &cMe)

void	set_cVf (const vpVelocityTwistMatrix &cVf_)

void	set_cVf (const vpHomogeneousMatrix &cMf)

void	set_fVe (const vpVelocityTwistMatrix &fVe_)

void	set_fVe (const vpHomogeneousMatrix &fMe)

void	set_eJe (const vpMatrix &eJe_)

void	set_fJe (const vpMatrix &fJe_)

bool	testInitialization ()

bool	testUpdated ()

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

std::list< vpBasicFeature * >	featureList

std::list< vpBasicFeature * >	desiredFeatureList

std::list< 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

double	mu

Detailed Description

Class required to compute the visual servoing control law descbribed in [2] and [3].

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 Tutorial: Visual servo simulation on a pioneer-like unicycle robot and Tutorial: How to boost your visual servo control law are also useful for advanced usage of this class.

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 155 of file vpServo.h.

Member Enumeration Documentation

enum vpServo::vpServoInversionType

Enumerator
TRANSPOSE	In the control law (see vpServo::vpServoType), uses the transpose instead of the pseudo inverse.
PSEUDO_INVERSE	In the control law (see vpServo::vpServoType), uses the pseudo inverse.

Definition at line 199 of file vpServo.h.

enum vpServo::vpServoIteractionMatrixType

Enumerator
CURRENT	In the control law (see vpServo::vpServoType), uses the interaction matrix ${\widehat {\bf L}}_s$ computed using the current features $\bf s$ .
DESIRED	In the control law (see vpServo::vpServoType), uses the interaction matrix ${\widehat {\bf L}}_{s^}$ computed using the desired features ${\bf s}^$ .
MEAN	In the control law (see vpServo::vpServoType), uses the interaction matrix ${\widehat {\bf L}} = \left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2$ .
USER_DEFINED	In the control law (see vpServo::vpServoType), uses an interaction matrix set by the user.

Definition at line 187 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 $\bf e = (s-s^*)$ .
FEATURE_CURRENT	Print the current features $\bf s$ .
FEATURE_DESIRED	Print the desired features ${\bf s}^*$ .
GAIN	Print the gain $\lambda$ .
INTERACTION_MATRIX	Print the interaction matrix.
MINIMUM	Same as vpServo::vpServoPrintType::ERROR_VECTOR.

Definition at line 205 of file vpServo.h.

enum vpServo::vpServoType

Enumerator
NONE	No control law is specified.
EYEINHAND_CAMERA	Eye in hand visual servoing with the following control law ${\bf v}_c = -\lambda {\widehat {\bf L}}^{+}_{e} {\bf e}$ where camera velocities are computed.
EYEINHAND_L_cVe_eJe	Eye in hand visual servoing with the following control law ${\dot {\bf q}} = -\lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_e {^e}{\bf J}_e} \right)^{+} {\bf e}$ where joint velocities are computed.
EYETOHAND_L_cVe_eJe	Eye to hand visual servoing with the following control law ${\dot {\bf q}} = \lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_e {^e}{\bf J}_e} \right)^{+} {\bf e}$ where joint velocities are computed.
EYETOHAND_L_cVf_fVe_eJe	Eye to hand visual servoing with the following control law ${\dot {\bf q}} = \lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_f {^f}{\bf V}_e {^e}{\bf J}_e} \right)^{+} {\bf e}$ where joint velocities are computed.
EYETOHAND_L_cVf_fJe	Eye to hand visual servoing with the following control law ${\dot {\bf q}} = \lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_f {^f}{\bf J}_e} \right)^{+} {\bf e}$ where joint velocities are computed.

Definition at line 161 of file vpServo.h.

Constructor & Destructor Documentation

vpServo::vpServo ( )

Default constructor that initializes the following settings:

No control law is specified. The user has to call setServo() to specify the control law.
In the control law, the interaction matrix ${\widehat {\bf L}}_e$ is computed with the desired features ${\bf s}^*$ . Using setInteractionMatrixType() you can also compute the interaction matrix with the current visual features, or from the mean $\left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2$ .
In the control law the pseudo inverse will be used. The method setInteractionMatrixType() allows to use the transpose instead.

Definition at line 71 of file vpServo.cpp.

vpServo::vpServo ( vpServoType servo_type )

Constructor that allows to choose the visual servoing control law.

Parameters

servo_type : Visual servoing control law.

The other settings are the following:

In the control law, the interaction matrix ${\widehat {\bf L}}_e$ is computed with the desired features ${\bf s}^*$ . Using setInteractionMatrixType() you can also compute the interaction matrix with the current visual features, or from the mean $\left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2$ .
In the control law the pseudo inverse will be used. The method setInteractionMatrixType() allows to use the transpose instead.

Definition at line 93 of file vpServo.cpp.

vpServo::~vpServo ( )

virtual

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 114 of file vpServo.cpp.

References taskWasKilled, and vpTRACE.

Member Function Documentation

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

Add a new set of 2 features $\bf s$ and ${\bf s}^*$ in the task.

Parameters

s_cur	: Current visual feature denoted $\bf s$ .
s_star	: Desired visual feature denoted ${\bf s}^*$ .
select	: Feature selector. By default all the features in s and s_star are used, but is is possible to specify which one is used in case of multiple features.

The following sample code explain how to use this method to add a visual feature point $(x,y)$ :

vpFeaturePoint s, s_star;
...
vpServo task;
task.addFeature(s, s_star);

For example to use only the $x$ visual feature, the previous code becomes:

vpFeaturePoint s, s_star;
...
vpServo task;
task.addFeature(s, s_star, vpFeaturePoint::selectX());

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 449 of file vpServo.cpp.

References desiredFeatureList, featureList, and featureSelectionList.

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

Add a new features $\bf s$ in the task. The desired visual feature denoted ${\bf s}^*$ is equal to zero.

Parameters

s_cur	: Current visual feature denoted $\bf s$ .
select	: Feature selector. By default all the features in s are used, but is is possible to specify which one is used in case of multiple features.

The following sample code explain how to use this method to add a $\theta {\bf u} =(\theta u_x, \theta u_y, \theta u_z)$ feature:

vpFeatureThetaU s(vpFeatureThetaU::cRcd);
...
vpServo task;
task.addFeature(s);

For example to use only the $\theta u_x$ feature, the previous code becomes:

vpFeatureThetaU s(vpFeatureThetaU::cRcd);
...
vpServo task;
task.addFeature(s, vpFeatureThetaU::selectTUx);

Definition at line 479 of file vpServo.cpp.

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

vpColVector vpServo::computeControlLaw ( )

Compute the control law specified using setServo(). See vpServo::vpServoType for more details concerning the control laws that are available. The Tutorial: Image-based visual servo and Tutorial: How to boost your visual servo control law are also useful to illustrate the usage of this function.

The general form of the control law is the following:

${\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e}$

where :

${\bf \dot q}$ is the resulting velocity command to apply to the robot.
the sign of the control law depends on the eye in hand or eye to hand configuration.
$\bf J$ is the Jacobian of the task. It is function of the interaction matrix and of the robot Jacobian.
$\bf e = (s-s^*)$ is the error to regulate.

To ensure continuous sequencing the computeControlLaw(double) function can be used. It will ensure that the velocities that are computed are continuous.

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 902 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::computeControlLaw ( double t )

Compute the control law specified using setServo(). See vpServo::vpServoType for more details concerning the control laws that are available. The Tutorial: How to boost your visual servo control law is also useful to illustrate the usage of this function.

To the general form of the control law given in computeControlLaw(), we add here an additional term that comes from the task sequencing approach described in [18] equation (17). This additional term allows to compute continuous velocities by avoiding abrupt changes in the command.

The form of the control law considered here is the following:

${\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e} \mp \lambda {{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)} \exp(-\mu t)$

where :

${\bf \dot q}$ is the resulting continuous velocity command to apply to the robot.
the sign of the control law depends on the eye in hand or eye to hand configuration.
$\bf J$ is the Jacobian of the task. It is function of the interaction matrix and of the robot Jacobian.
$\bf e = (s-s^*)$ is the error to regulate.
is the time given as parameter of this method.
$\mu$ is a gain that is set by default to 4 and that could be modified using setMu().
${\bf \widehat J}_{e(0)}^+ {\bf e}(0)$ is the value of ${\bf \widehat J}_e^+ {\bf e}$ when . This value is internally stored either at the first call of this method, or when t parameter is set to 0.

Parameters

t	: Time in second. When set to zero, ${{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)}$ is refreshed internally.

Definition at line 1068 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, mu, 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::computeControlLaw	(	double	t,
		const vpColVector &	e_dot_init
	)

Compute the control law specified using setServo(). See vpServo::vpServoType for more details concerning the control laws that are available.

To the general form of the control law given in computeControlLaw(), we add here an additional term that comes from the task sequencing approach described in [18] equation (17). This additional term allows to compute continuous velocities by avoiding abrupt changes in the command.

The form of the control law considered here is the following:

${\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e} + \left({\bf \dot e}(0) \mp \lambda {{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)}\right) \exp(-\mu t)$

where :

${\bf \dot q}$ is the resulting continuous velocity command to apply to the robot.
the sign of the control law depends on the eye in hand or eye to hand configuration.
$\bf J$ is the Jacobian of the task. It is function of the interaction matrix and of the robot Jacobian.
$\bf e = (s-s^*)$ is the error to regulate.
is the time given as parameter of this method.
$\mu$ is a gain that is set by default to 4 and that could be modified using setMu().
${\bf \widehat J}_{e(0)}^+ {\bf e}(0)$ is the value of ${\bf \widehat J}_e^+ {\bf e}$ when . This value is internally stored either at the first call of this method, or when t parameter is set to 0.

Parameters

t	: Time in second. When set to zero, ${{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)}$ is refreshed internally.
e_dot_init	: Initial value of ${\bf \dot e}(0)$ .

Definition at line 1241 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, mu, 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 $\bf e =(s - s^*)$ between the current set of visual features $\bf s$ and the desired set of visual features $\bf s^*$ .

Returns: The error vector $\bf e$ .

Definition at line 696 of file vpServo.cpp.

References desiredFeatureList, dim_task, vpBasicFeature::error(), error, errorComputed, vpBasicFeature::get_s(), vpMatrix::getRows(), vpServoException::noFeatureError, vpColVector::resize(), s, sStar, vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by computeControlLaw().

vpMatrix vpServo::computeInteractionMatrix ( )

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

Returns: The interaction matrix ${\widehat {\bf L}}_e$ used in the control law specified using setServo().

Definition at line 607 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 306 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 310 of file vpServo.h.

vpMatrix vpServo::get_eJe ( ) const

inline

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

Definition at line 318 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 322 of file vpServo.h.

vpVelocityTwistMatrix vpServo::get_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 314 of file vpServo.h.

unsigned int vpServo::getDimension ( ) const

Return the task dimension.

Definition at line 508 of file vpServo.cpp.

References featureList, and featureSelectionList.

vpColVector vpServo::getError ( ) const

inline

Return the error $\bf e = (s - s^*)$ between the current set of visual features $\bf s$ and the desired set of visual features $\bf s^*$ . 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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 257 of file vpServo.h.

Referenced by vpServoData::save().

vpMatrix vpServo::getI_WpW ( ) const

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 1515 of file vpServo.cpp.

References I_WpW.

vpMatrix vpServo::getInteractionMatrix ( ) const

inline

Definition at line 273 of file vpServo.h.

vpServoType vpServo::getServoType ( ) const

inline

Return the visual servo type.

Definition at line 282 of file vpServo.h.

vpMatrix vpServo::getTaskJacobian ( ) const

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

In the general case, the task jacobian is given by ${\bf J} = {\widehat {\bf L}} {^c}{\bf V}_a {^a}{\bf J}_e$ .

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

See also: getTaskJacobianPseudoInverse(), getInteractionMatrix()

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp.

Definition at line 1532 of file vpServo.cpp.

References J1.

vpMatrix vpServo::getTaskJacobianPseudoInverse ( ) const

Return the pseudo inverse of the task jacobian $J$ .

In the general case, the task jacobian is given by ${\bf J} = {\widehat {\bf L}} {^c}{\bf V}_a {^a}{\bf J}_e$ .

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

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

...

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

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

See also: getTaskJacobian()

Definition at line 1553 of file vpServo.cpp.

References J1p.

unsigned int vpServo::getTaskRank ( ) const

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
unsigned int 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 1567 of file vpServo.cpp.

References rankJ1.

vpColVector vpServo::getTaskSingularValues ( ) const

inline

Get task singular values.

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

Definition at line 296 of file vpServo.h.

vpMatrix vpServo::getWpW ( ) const

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

When the dimension of the task is equal to the number of degrees of freedom available ${\bf W^+W = I}$ .

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 1587 of file vpServo.cpp.

References WpW.

void vpServo::init ( void )

protected

Basic initialization.

Initialize the servo with the following settings:

No control law is specified. The user has to call setServo() to specify the control law.
In the control law, the interaction matrix ${\widehat {\bf L}}_e$ is computed with the desired features ${\bf s}^*$ . Using setInteractionMatrixType() you can also compute the interaction matrix with the current visual features, or from the mean $\left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2$ .
In the control law the pseudo inverse will be used. The method setInteractionMatrixType() allows to use the transpose instead.

Definition at line 139 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, NONE, PSEUDO_INVERSE, rankJ1, servoType, signInteractionMatrix, and taskWasKilled.

void vpServo::kill ( )

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 189 of file vpServo.cpp.

References desiredFeatureList, featureList, taskWasKilled, 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	: Indicates which are the task informations to print. See vpServo::vpServoPrintType for more details.
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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 251 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, GAIN, INTERACTION_MATRIX, interactionMatrixComputed, L, lambda, MINIMUM, NONE, servoType, and vpColVector::t().

vpColVector vpServo::secondaryTask ( const vpColVector & de2dt )

Compute and return the secondary task vector according to the projection operator ${\bf I-W^+W}$ . For more details, see equation(7) in the paper [21].

Parameters

de2dt : Value of $\frac{\partial {\bf e_2}}{\partial t}$ the derivative of the secondary task ${\bf e}_2$ .

Returns: The secondary task vector:
$({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}$

Note that the secondary task vector need than to be added to the primary task which can be in the general case written as:

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

Warning: computeControlLaw() must be call prior to this function since it updates the projection operator $\bf W^+W$ .

The following sample code shows how to use this method:

vpColVector v;     // Velocity applied to the robot
vpColVector de2dt;
vpServo task;
...
v  = task.computeControlLaw(); // Compute the primary task
v += task.secondaryTask(de2dt) // Compute and add the secondary task

See also: computeControlLaw()

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

Definition at line 1416 of file vpServo.cpp.

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

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

Compute and return the secondary task vector according to the projection operator ${\bf I-W^+W}$ . For more details, see equation(7) in the paper [21].

Parameters

e2	: Value of the secondary task ${\bf e}_2$ .
de2dt	: Value of $\frac{\partial {\bf e_2}}{\partial t}$ the derivative of the secondary task ${\bf e}_2$ .

Returns: The secondary task vector:
$-\lambda ({\bf I-W^+W}) {\bf e_2} + ({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}$

Note that the secondary task vector need than to be added to the primary task which can be in the general case written as:

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

Warning: computeControlLaw() must be call prior to this function since it updates the projection operator $\bf W^+W$ .

The following sample code shows how to use this method:

vpColVector v;     // Velocity applied to the robot
vpColVector e2;
vpColVector de2dt;
vpServo task;
...
v  = task.computeControlLaw();     // Compute the primary task
v += task.secondaryTask(e2, de2dt) // Compute and add the secondary task

See also: computeControlLaw()

Definition at line 1474 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 ( const vpVelocityTwistMatrix & cVe_ )

inline

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

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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 414 of file vpServo.h.

Referenced by setServo().

void vpServo::set_cVe ( const vpHomogeneousMatrix & cMe )

inline

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

Definition at line 418 of file vpServo.h.

void vpServo::set_cVf ( const vpVelocityTwistMatrix & cVf_ )

inline

Set 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 422 of file vpServo.h.

void vpServo::set_cVf ( const vpHomogeneousMatrix & cMf )

inline

Set 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 426 of file vpServo.h.

void vpServo::set_eJe ( const vpMatrix & eJe_ )

inline

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

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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 439 of file vpServo.h.

Referenced by setServo().

void vpServo::set_fJe ( const vpMatrix & fJe_ )

inline

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

Definition at line 443 of file vpServo.h.

void vpServo::set_fVe ( const vpVelocityTwistMatrix & fVe_ )

inline

Set 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 430 of file vpServo.h.

void vpServo::set_fVe ( const vpHomogeneousMatrix & fMe )

inline

Set 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 434 of file vpServo.h.

void vpServo::setForceInteractionMatrixComputation ( bool force_computation )

inline

Set a variable which enables to compute the interaction matrix at each iteration.

When the interaction matrix is computed from the desired features ${\bf s}^*$ which are in general constant, the interaction matrix ${\widehat {\bf L}}_{s^*}$ is computed just at the first iteration of the servo loop. Sometimes, when the desired features are time dependent ${{\bf s}(t)}^*$ or varying, the interaction matrix need to be computed at each iteration of the servo loop. This method allows to force the computation of ${\widehat {\bf L}}$ in this particular case.

Parameters

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

Definition at line 347 of file vpServo.h.

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

Set the interaction matrix type (current, desired, mean or user defined) and how its inverse is computed.

Parameters

interactionMatrixType	: The interaction matrix type. See vpServo::vpServoIteractionMatrixType for more details.
interactionMatrixInversion	: How is the inverse computed. See vpServo::vpServoInversionType for more details.

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 522 of file vpServo.cpp.

References interactionMatrixType, and inversionType.

void vpServo::setLambda ( double c )

inline

Set the gain $\lambda$ used in the control law (see vpServo::vpServoType) as constant.

The usage of an adaptive gain allows to reduce the convergence time, see setLambda(const vpAdaptiveGain&).

Parameters

c	: Constant gain. Values are in general between 0.1 and 1. Higher is the gain, higher are the velocities that may be applied to the robot.

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 370 of file vpServo.h.

void vpServo::setLambda	(	const double	gain_at_zero,
		const double	gain_at_infinity,
		const double	slope_at_zero
	)

inline

Set the gain $\lambda$ used in the control law (see vpServo::vpServoType) as adaptive. Value of $\lambda$ that is used in computeControlLaw() depend on the infinity norm of the task Jacobian.

The usage of an adaptive gain rather than a constant gain allows to reduce the convergence time.

Parameters

gain_at_zero	: the expected gain when : $\lambda(0)$ .
gain_at_infinity	: the expected gain when $x=\infty$ : $\lambda(\infty)$ .
slope_at_zero	: the expected slope of $\lambda(x)$ when : ${\dot \lambda}(0)$ .

For more details on these parameters see vpAdaptiveGain class.

Definition at line 387 of file vpServo.h.

void vpServo::setLambda ( const vpAdaptiveGain & l )

inline

Set the gain $\lambda$ used in the control law (see vpServo::vpServoType) as adaptive. Value of $\lambda$ that is used in computeControlLaw() depend on the infinity norm of the task Jacobian.

The usage of an adaptive gain rather than a constant gain allows to reduce the convergence time.

See also: vpAdaptiveGain

Definition at line 400 of file vpServo.h.

void vpServo::setMu ( double mu_ )

inline

Set the value of the parameter $\mu$ used to ensure the continuity of the velocities computed using computeControlLaw(double).

A recommended value is 4.

Definition at line 407 of file vpServo.h.

void vpServo::setServo ( const vpServoType & servo_type )

Set the visual servoing control law.

Parameters

servo_type : Control law that will be considered. See vpServo::vpServoType to see the possible values.

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-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.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-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 220 of file vpServo.cpp.

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

bool vpServo::testInitialization ( )

Test if all the initialization are correct. If true, the control law can be computed.

Definition at line 812 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 846 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 519 of file vpServo.h.

Referenced by computeControlLaw().

vpVelocityTwistMatrix vpServo::cVf

protected

Twist transformation matrix between Rf and Rc.

Definition at line 522 of file vpServo.h.

Referenced by computeControlLaw().

std::list<vpBasicFeature *> vpServo::desiredFeatureList

List of desired visual features $\bf s^*$ .

Definition at line 496 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 updated during computeControlLaw().

Definition at line 548 of file vpServo.h.

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

vpColVector vpServo::e

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

Definition at line 480 of file vpServo.h.

Referenced by computeControlLaw().

vpColVector vpServo::e1

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

Definition at line 478 of file vpServo.h.

Referenced by computeControlLaw(), and secondaryTask().

vpMatrix vpServo::eJe

protected

Jacobian expressed in the end-effector frame.

Definition at line 533 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().