ViSP  2.9.0
servoViper850Point2DCamVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the ADEPT Viper 850 robot (arm, with 6 degrees of freedom). The velocity is computed in the camera frame. The visual feature is the center of gravity of a point.

/****************************************************************************
*
* $Id: servoViper850Point2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in camera frame
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <fstream>
#include <sstream>
#if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
#include <visp/vp1394TwoGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpPoint.h>
#include <visp/vpServo.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpRobotViper850.h>
#include <visp/vpIoTools.h>
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpImageIo.h>
#include <visp/vpDot2.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGTK.h>
int
main()
{
// Log file creation in /tmp/$USERNAME/log.dat
// This file contains by line:
// - the 6 computed joint velocities (m/s, rad/s) to achieve the task
// - the 6 mesured joint velocities (m/s, rad/s)
// - the 6 mesured joint positions (m, rad)
// - the 2 values of s - s*
std::string username;
// Get the user login name
// Create a log filename to save velocities...
std::string logdirname;
logdirname ="/tmp/" + username;
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(logdirname) == false) {
try {
// Create the dirname
}
catch (...) {
std::cerr << std::endl
<< "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
exit(-1);
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
// Open the log file name
std::ofstream flog(logfilename.c_str());
try {
vpServo task ;
bool reset = false;
vp1394TwoGrabber g(reset);
#if 1
#else
#endif
g.open(I) ;
#ifdef VISP_HAVE_X11
vpDisplayX display(I, (int)(100+I.getWidth()+30), 200, "Current image") ;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display(I, (int)(100+I.getWidth()+30), 200, "Current image") ;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I, (int)(100+I.getWidth()+30), 200, "Current image") ;
#endif
vpDot2 dot ;
dot.setGraphics(true);
for (int i=0; i< 10; i++)
g.acquire(I) ;
std::cout << "Click on a dot..." << std::endl;
dot.initTracking(I) ;
cog = dot.getCog();
// Update camera parameters
robot.getCameraParameters (cam, I);
// sets the current position of the visual feature
// retrieve x,y and Z of the vpPoint structure
// sets the desired position of the visual feature
pd.buildFrom(0,0,1) ;
// define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
// - we want to see a point on a point
task.addFeature(p,pd) ;
// - set the constant gain
task.setLambda(0.8) ;
// Display task information
task.print() ;
// Now the robot will be controlled in velocity
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for ( ; ; ) {
try {
// Acquire a new image from the camera
g.acquire(I) ;
// Display this image
// Achieve the tracking of the dot in the image
dot.track(I) ;
// Get the dot cog
cog = dot.getCog();
// Display a green cross at the center of gravity position in the image
// Update the point feature from the dot location
// Compute the visual servoing skew vector
v = task.computeControlLaw() ;
// Display the current and desired feature points in the image display
vpServoDisplay::display(task, cam, I) ;
// Apply the computed camera velocities to the robot
}
catch(...) {
std::cout << "Tracking failed... Stop the robot." << std::endl;
v = 0;
// Stop robot
return 0;
}
// Save velocities applied to the robot in the log file
// v[0], v[1], v[2] correspond to camera translation velocities in m/s
// v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
flog << v[0] << " " << v[1] << " " << v[2] << " "
<< v[3] << " " << v[4] << " " << v[5] << " ";
// Get the measured joint velocities of the robot
// Save measured joint velocities of the robot in the log file:
// - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
// velocities in m/s
// - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
// velocities in rad/s
flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " "
<< qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
// Get the measured joint positions of the robot
// Save measured joint positions of the robot in the log file
// - q[0], q[1], q[2] correspond to measured joint translation
// positions in m
// - q[3], q[4], q[5] correspond to measured joint rotation
// positions in rad
flog << q[0] << " " << q[1] << " " << q[2] << " "
<< q[3] << " " << q[4] << " " << q[5] << " ";
// Save feature error (s-s*) for the feature point. For this feature
// point, we have 2 errors (along x and y axis). This error is expressed
// in meters in the camera frame
flog << ( task.getError() ).t() << std::endl; // s-s* for point
// Flush the display
}
flog.close() ; // Close the log file
// Display task information
task.print() ;
// Kill the task
task.kill();
return 0;
}
catch (...)
{
flog.close() ; // Close the log file
vpERROR_TRACE(" Test failed") ;
return 0;
}
}
#else
int
main()
{
vpERROR_TRACE("You do not have a Viper robot or a firewire framegrabber connected to your computer...");
}
#endif