#include </Users/fspindle/poub/visp-3.0.0/modules/vs/include/visp3/vs/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	getLargeP () 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, const bool &useLargeProjectionOperator=false)

vpColVector	secondaryTask (const vpColVector &e2, const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)

vpColVector	secondaryTaskJointLimitAvoidance (const vpColVector &q, const vpColVector &dq, const vpColVector &jointMin, const vpColVector &jointMax, const double &rho=0.1, const double &rho1=0.3, const double &lambda_tune=0.7) const

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 ()

void	computeProjectionOperators ()

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

vpMatrix	P

vpColVector	sv

double	mu

vpColVector	e1_initial

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 <visp3/core/vpColVector.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpFeatureTranslation.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/vs/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-jointAvoidance-large.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 151 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 195 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 183 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 201 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 157 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 68 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 90 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 111 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-jointAvoidance-large.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 446 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 476 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-jointAvoidance-large.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 899 of file vpServo.cpp.

References computeError(), computeInteractionMatrix(), computeProjectionOperators(), cVe, cVf, e, e1, eJe, error, vpMatrix::eye(), EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, fJe, fVe, vpArray2D< Type >::getCols(), init_cVe, init_eJe, init_fJe, init_fVe, inversionType, J1, J1p, lambda, NONE, PSEUDO_INVERSE, vpMatrix::pseudoInverse(), rankJ1, vpServoException::servoError, servoType, 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 1055 of file vpServo.cpp.

References computeError(), computeInteractionMatrix(), computeProjectionOperators(), cVe, cVf, e, e1, e1_initial, eJe, error, vpMatrix::eye(), EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, fJe, fVe, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), init_cVe, init_eJe, init_fJe, init_fVe, inversionType, J1, J1p, lambda, mu, NONE, PSEUDO_INVERSE, vpMatrix::pseudoInverse(), rankJ1, vpServoException::servoError, servoType, 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 1220 of file vpServo.cpp.

References computeError(), computeInteractionMatrix(), computeProjectionOperators(), cVe, cVf, e, e1, e1_initial, eJe, error, vpMatrix::eye(), EYEINHAND_CAMERA, EYEINHAND_L_cVe_eJe, EYETOHAND_L_cVe_eJe, EYETOHAND_L_cVf_fJe, EYETOHAND_L_cVf_fVe_eJe, fJe, fVe, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), init_cVe, init_eJe, init_fJe, init_fVe, inversionType, J1, J1p, lambda, mu, NONE, PSEUDO_INVERSE, vpMatrix::pseudoInverse(), rankJ1, vpServoException::servoError, servoType, 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 693 of file vpServo.cpp.

References desiredFeatureList, dim_task, vpBasicFeature::error(), error, errorComputed, vpBasicFeature::get_s(), vpArray2D< Type >::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 604 of file vpServo.cpp.

References CURRENT, DESIRED, desiredFeatureList, dim_task, forceInteractionMatrixComputation, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), interactionMatrixComputed, interactionMatrixType, L, MEAN, USER_DEFINED, and vpERROR_TRACE.

Referenced by computeControlLaw().

void vpServo::computeProjectionOperators ( )

protected

Compute the classic projetion operator and the large projection operator.

Definition at line 1356 of file vpServo.cpp.

References error, vpColVector::euclideanNorm(), vpMatrix::eye(), vpArray2D< Type >::getCols(), I_WpW, J1, P, vpArray2D< Type >::resize(), vpColVector::t(), vpMatrix::transpose(), and WpW.

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 322 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 326 of file vpServo.h.

vpMatrix vpServo::get_eJe ( ) const

inline

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

Definition at line 334 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 338 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 330 of file vpServo.h.

unsigned int vpServo::getDimension ( ) const

Return the task dimension.

Definition at line 505 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 271 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 1723 of file vpServo.cpp.

References I_WpW.

vpMatrix vpServo::getInteractionMatrix ( ) const

inline

Definition at line 287 of file vpServo.h.

vpMatrix vpServo::getLargeP ( ) const

Return the large projection operator. This operator is updated after a call of computeControlLaw().

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

See also: getP()

Definition at line 1741 of file vpServo.cpp.

References P.

vpServoType vpServo::getServoType ( ) const

inline

Return the visual servo type.

Definition at line 296 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 1759 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 1780 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 1794 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 312 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 1814 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 136 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-jointAvoidance-large.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 186 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-jointAvoidance-large.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 248 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,
		const bool &	useLargeProjectionOperator = `false`
	)

Compute and return the secondary task vector according to the classic projection operator ${\bf I-W^+W}$ (see equation(7) in the paper [21]) or the new large projection operator (see equation(24) in the paper [22]).

Parameters

de2dt	: Value of $\frac{\partial {\bf e_2}}{\partial t}$ the derivative of the secondary task ${\bf e}_2$ .
useLargeProjectionOperator	: if true will be use the large projection operator, if false the classic one (default).

Returns: The secondary task vector.

If the classic projection operator is used ( useLargeProjectionOperator = false (default value)) this function return:

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

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

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

Otherwise if the new large projection operator is used ( useLargeProjectionOperator = true ) this function return:

${\bf P}\frac{\partial {\bf e_2}}{\partial t}$

where

${\bf P} =\bar{\lambda }\left ( \left \| {\bf e} \right \| \right ){\bf P}_{ \left \| {\bf e } \right \| } \left ( 1 - \bar{\lambda }\left ( \left \| {\bf e } \right \| \right ) \right ) \left ( {\bf I-W^+W}\right )$

with

${\bf P}_{\left \| {\bf e } \right \| } = I_{n} - \frac{1}{{\bf e }^\top {\bf J_{{\bf e }} } {\bf J_{{\bf e }}^\top }{\bf e }}{\bf J_{{\bf e }}^\top }{\bf e }{\bf e }^\top{\bf J_{{\bf e }} }$

Warning: computeControlLaw() must be call prior to this function since it updates the projection operators.

The following sample code shows how to use this method to compute a secondary task using the classic projection operator:

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 using the classical projection operator

The following sample code shows how to use this method to compute a secondary task using the large projection operator:

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

See also: computeControlLaw()

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

Definition at line 1458 of file vpServo.cpp.

References vpArray2D< Type >::getCols(), I_WpW, J1, vpServoException::noDofFree, P, rankJ1, vpArray2D< Type >::resize(), vpMatrix::setIdentity(), vpERROR_TRACE, and WpW.

vpColVector vpServo::secondaryTask	(	const vpColVector &	e2,
		const vpColVector &	de2dt,
		const bool &	useLargeProjectionOperator = `false`
	)

Compute and return the secondary task vector according to the classic projection operator ${\bf I-W^+W}$ (see equation(7) in the paper [21]) or the new large projection operator (see equation(24) in the paper [22]).

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 ${\bf e}_2$ .
useLargeProjectionOperator	if true will be use the large projection operator, if false the classic one (default).

Returns: The secondary task vector.

If the classic projection operator is used ( useLargeProjectionOperator = false (default value)) this function return:

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

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

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

Otherwise if the new large projection operator is used ( useLargeProjectionOperator = true ) this function return:

$-\lambda {\bf P} {\bf e_2} + {\bf P}\frac{\partial {\bf e_2}}{\partial t}$

where

${\bf P} =\bar{\lambda }\left ( \left \| {\bf e} \right \| \right ){\bf P}_{ \left \| {\bf e } \right \| } \left ( 1 - \bar{\lambda }\left ( \left \| {\bf e } \right \| \right ) \right ) \left ( {\bf I-W^+W}\right )$

with

${\bf P}_{\left \| {\bf e } \right \| } = I_{n} - \frac{1}{{\bf e }^\top {\bf J_{{\bf e }} } {\bf J_{{\bf e }}^\top }{\bf e }}{\bf J_{{\bf e }}^\top }{\bf e }{\bf e }^\top{\bf J_{{\bf e }} }$

Warning: computeControlLaw() must be call prior to this function since it updates the projection operators.

The following sample code shows how to use this method to compute a secondary task using the classical projection operator:

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 using the classical projection operator

The following sample code shows how to use this method to compute a secondary task using the large projection operator:

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, true) // Compute and add the secondary task using the large projection operator

See also: computeControlLaw()

Definition at line 1558 of file vpServo.cpp.

References e1, vpArray2D< Type >::getCols(), I_WpW, J1, lambda, vpServoException::noDofFree, P, rankJ1, vpArray2D< Type >::resize(), vpMatrix::setIdentity(), vpERROR_TRACE, and WpW.

vpColVector vpServo::secondaryTaskJointLimitAvoidance	(	const vpColVector &	q,
		const vpColVector &	dq,
		const vpColVector &	qmin,
		const vpColVector &	qmax,
		const double &	rho = `0.1`,
		const double &	rho1 = `0.3`,
		const double &	lambda_tune = `0.7`
	)		const

Compute and return the secondary task vector for joint limit avoidance [23] using the new large projection operator (see equation(24) in the paper [22]). The robot avoids the joint limits very smoothly even when the main task constrains all the robot degrees of freedom.

Parameters

q	: Actual joint positions vector
dq	: Actual joint velocities vector
qmin	: Vector containing the low limit value of each joint in the chain.
qmax	: Vector containing the high limit value of each joint in the chain.
rho	: tuning paramenter ${\left [ 0,\frac{1}{2} \right ]}$ used to define the safe configuration for the joint. When the joint angle value cross the max or min boundaries ( ${ q_{l_{0}}^{max} }$ and ${q_{l_{0}}^{min}}$ ) the secondary task is actived gradually.
rho1	: tuning paramenter ${\left ] 0,1 \right ]}$ to compute the external boundaries ( ${q_{l_{1}}^{max}}$ and ${q_{l_{1}}^{min}}$ ) for the joint limits. Here the secondary task it completely activated with the highest gain.
lambda_tune	: value ${\left [ 0,1 \right ]}$ used to tune the difference in magnitude between the absolute value of the elements of the primary task and the elements of the secondary task. (See equation (17) [23] )

vpServo task;
vpColVector qmin;
vpColVector qmax;
vpColVector q;
vpColVector dq;
// Fill vector qmin and qmax with min and max limits of the joints (same joint order than vector q).
// Update vector of joint position q and velocities dq;
...
vpColVector  v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
v += task.secondaryTaskJointLimitAvoidance(q, dq, qmin, qmax) // Compute and add the secondary task for the joint
limit avoidance using the large projection operator

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-large.cpp.

Definition at line 1629 of file vpServo.cpp.

References vpMath::abs(), vpException::dimensionError, vpMatrix::getCol(), vpArray2D< Type >::getCols(), J1, P, vpArray2D< Type >::size(), and vpERROR_TRACE.

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-jointAvoidance-large.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 434 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 438 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 442 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 446 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-jointAvoidance-large.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 459 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 463 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 450 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 454 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 367 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-jointAvoidance-large.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 519 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-jointAvoidance-large.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 390 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 407 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 420 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 427 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-jointAvoidance-large.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 217 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 809 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 843 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 544 of file vpServo.h.

Referenced by computeControlLaw().

vpVelocityTwistMatrix vpServo::cVf

protected

Twist transformation matrix between Rf and Rc.

Definition at line 547 of file vpServo.h.

Referenced by computeControlLaw().

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

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

Definition at line 521 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 573 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 505 of file vpServo.h.

Referenced by computeControlLaw().

vpColVector vpServo::e1

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

Definition at line 503 of file vpServo.h.

Referenced by computeControlLaw(), and secondaryTask().

vpColVector vpServo::e1_initial

protected

Definition at line 608 of file vpServo.h.

Referenced by computeControlLaw().

vpMatrix vpServo::eJe

protected

Jacobian expressed in the end-effector frame.

Definition at line 558 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().

Examples:: servoMomentImage.cpp.

Definition at line 489 of file vpServo.h.

Referenced by computeControlLaw(), computeError(), computeProjectionOperators(), and print().

bool vpServo::errorComputed

protected

true if the error has been computed.

Definition at line 569 of file vpServo.h.

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

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

List of current visual features $\bf s$ .

Definition at line 519 of file vpServo.h.

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

std::list<unsigned int> vpServo::featureSelectionList

List of selection among visual features used for selection of a subset of each visual feature if required.

Definition at line 524 of file vpServo.h.

Referenced by addFeature(), getDimension(), init(), and print().

vpMatrix vpServo::fJe

protected

Jacobian expressed in the robot reference frame.

Definition at line 561 of file vpServo.h.

Referenced by computeControlLaw().

bool vpServo::forceInteractionMatrixComputation

protected

Force the interaction matrix computation even if it is already done.

Definition at line 577 of file vpServo.h.

Referenced by computeInteractionMatrix(), and init().

vpVelocityTwistMatrix vpServo::fVe

protected

Twist transformation matrix between Re and Rf.

Definition at line 550 of file vpServo.h.

Referenced by computeControlLaw().

vpMatrix vpServo::I_WpW

protected

Projection operators $\bf I-WpW$ .

Definition at line 582 of file vpServo.h.

Referenced by computeProjectionOperators(), getI_WpW(), and secondaryTask().

bool vpServo::init_cVe

protected

Definition at line 545 of file vpServo.h.

Referenced by computeControlLaw(), init(), testInitialization(), and testUpdated().

bool vpServo::init_cVf

protected

Definition at line 548 of file vpServo.h.

Referenced by init(), and testInitialization().

bool vpServo::init_eJe

protected

Definition at line 559 of file vpServo.h.

Referenced by computeControlLaw(), init(), testInitialization(), and testUpdated().

bool vpServo::init_fJe

protected

Definition at line 562 of file vpServo.h.

Referenced by computeControlLaw(), init(), testInitialization(), and testUpdated().

bool vpServo::init_fVe

protected

Definition at line 551 of file vpServo.h.

Referenced by computeControlLaw(), init(), testInitialization(), and testUpdated().

bool vpServo::interactionMatrixComputed

protected

true if the interaction matrix has been computed.

Definition at line 571 of file vpServo.h.

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

vpServoIteractionMatrixType vpServo::interactionMatrixType

Type of the interaction matrox (current, mean, desired, user)

Definition at line 533 of file vpServo.h.

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

vpServoInversionType vpServo::inversionType

Indicates if the transpose or the pseudo inverse of the interaction matrix should be used to compute the task.

Definition at line 536 of file vpServo.h.

Referenced by computeControlLaw(), init(), and setInteractionMatrixType().

vpMatrix vpServo::J1

Task Jacobian $J_1 = L {^c}V_a {^a}J_e$ .

Definition at line 491 of file vpServo.h.

Referenced by computeControlLaw(), computeProjectionOperators(), getTaskJacobian(), secondaryTask(), and secondaryTaskJointLimitAvoidance().

vpMatrix vpServo::J1p

Pseudo inverse ${J_1}^{+}$ of the task Jacobian.

Definition at line 493 of file vpServo.h.

Referenced by computeControlLaw(), and getTaskJacobianPseudoInverse().

vpMatrix vpServo::L

Interaction matrix.

Examples:: servoMomentImage.cpp.

Definition at line 485 of file vpServo.h.

Referenced by computeInteractionMatrix(), and print().

vpAdaptiveGain vpServo::lambda

Gain used in the control law.

Definition at line 527 of file vpServo.h.

Referenced by computeControlLaw(), print(), and secondaryTask().

double vpServo::mu

protected

Definition at line 606 of file vpServo.h.

Referenced by computeControlLaw().

vpMatrix vpServo::P

protected

New Large projection operator (see equation(24) in the paper [22]). This projection operator allows performing secondary task even when the main task is full rank.

${\bf P} =\bar{\lambda }\left ( \left \| {\bf e} \right \| \right ){\bf P}_{ \left \| {\bf e } \right \| } \left ( 1 - \bar{\lambda }\left ( \left \| {\bf e } \right \| \right ) \right ) \left ( {\bf I-W^+W}\right )$

with

${\bf P}_{\left \| {\bf e } \right \| } = I_{n} - \frac{1}{{\bf e }^\top {\bf J_{{\bf e }} } {\bf J_{{\bf e }}^\top } {\bf e }}{\bf J_{{\bf e }}^\top }{\bf e }{\bf e }^\top{\bf J_{{\bf e }} }$