Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in the camera frame. Visual features are given thanks to four lines and are the x and y coordinates of the rectangle center, log(Z/Z*) the current depth relative to the desired depth and the thetau rotations.
#include <cmath>
#include <limits>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureDepth.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpGenericFeature.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoint.h>
int main()
{
try {
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_OPENCV)
#elif defined(VISP_HAVE_GTK)
#endif
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a line " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
int nbline = 4;
int nbpoint = 4;
vpTRACE(
"sets the desired position of the visual feature ");
double L = 0.05;
vpTRACE(
"Initialization of the tracking");
int i;
for (i = 0; i < nbline; i++) {
}
for (i = 0; i < nbline; i++) {
double x = 0, y = 0;
exit(-1);
}
}
for (i = 0; i < nbline; i++) {
}
vpTRACE(
"sets the current position of the visual feature ");
double xc = (point[0].
get_x() + point[2].
get_x()) / 2;
double yc = (point[0].
get_y() + point[2].
get_y()) / 2;
vpTRACE(
"\t we want an eye-in-hand control law");
vpTRACE(
"\t robot is controlled in the camera frame");
vpTRACE(
"\t we want to see a point on a point..");
std::cout << std::endl;
vpTRACE(
"Display task information ");
unsigned int iter = 0;
double lambda_av = 0.05;
double alpha = 0.05;
double beta = 3;
for (;;) {
std::cout << "---------------------------------------------" << iter << std::endl;
try {
for (i = 0; i < nbline; i++) {
double x = 0, y = 0;
exit(-1);
}
}
for (i = 0; i < nbpoint; i++)
double gain;
{
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av;
else {
gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
}
}
if (iter == 0)
v = 0;
}
} catch (...) {
v = 0;
exit(1);
}
iter++;
}
vpTRACE(
"Display task information ");
return EXIT_SUCCESS;
}
std::cout << "Test failed with exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif