51 #include <visp3/core/vpConfig.h> 52 #include <visp3/core/vpDebug.h> 60 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394_2) && defined(VISP_HAVE_DISPLAY)) 62 #include <visp3/blob/vpDot2.h> 63 #include <visp3/core/vpDisplay.h> 64 #include <visp3/core/vpException.h> 65 #include <visp3/core/vpHomogeneousMatrix.h> 66 #include <visp3/core/vpImage.h> 67 #include <visp3/core/vpIoTools.h> 68 #include <visp3/core/vpMath.h> 69 #include <visp3/core/vpPoint.h> 70 #include <visp3/gui/vpDisplayGTK.h> 71 #include <visp3/gui/vpDisplayOpenCV.h> 72 #include <visp3/gui/vpDisplayX.h> 73 #include <visp3/gui/vpPlot.h> 74 #include <visp3/robot/vpRobotViper850.h> 75 #include <visp3/sensor/vp1394TwoGrabber.h> 76 #include <visp3/visual_features/vpFeatureBuilder.h> 77 #include <visp3/visual_features/vpFeaturePoint.h> 78 #include <visp3/vs/vpServo.h> 79 #include <visp3/vs/vpServoDisplay.h> 99 vpDisplayX display(I, 800, 100,
"Current image");
100 #elif defined(VISP_HAVE_OPENCV) 102 #elif defined(VISP_HAVE_GTK) 116 Qmiddle = (jointMin + jointMax) / 2.;
131 plot.initGraph(0, 12);
133 plot.initGraph(1, 6);
138 plot.initRange(0, 0., 200., -1.2, 1.2);
139 plot.setTitle(0,
"Joint behavior");
142 plot.setTitle(1,
"Q secondary task");
146 for (
unsigned int i = 0; i < 6; i++) {
147 sprintf(legend,
"q%u", i + 1);
148 plot.setLegend(0, i, legend);
149 plot.setLegend(1, i, legend);
151 plot.setLegend(0, 6,
"Low Limit");
152 plot.setLegend(0, 7,
"Upper Limit");
153 plot.setLegend(0, 8,
"ql0 min");
154 plot.setLegend(0, 9,
"ql0 max");
155 plot.setLegend(0, 10,
"ql1 min");
156 plot.setLegend(0, 11,
"ql1 max");
163 plot.setColor(0, 4,
vpColor(0, 128, 0));
165 for (
unsigned int i = 6; i < 12; i++)
172 std::cout <<
"Click on a dot..." << std::endl;
199 std::cout << cVe << std::endl;
208 std::cout << std::endl;
220 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
257 v = prim_task + sec_task;
269 for (
unsigned int i = 0; i < 6; i++) {
270 data[i] = (q[i] - Qmiddle[i]);
271 data[i] /= (jointMax[i] - jointMin[i]);
278 unsigned int joint = 2;
279 double tQmin_l0 = jointMin[joint] + rho * (jointMax[joint] - jointMin[joint]);
280 double tQmax_l0 = jointMax[joint] - rho * (jointMax[joint] - jointMin[joint]);
282 double tQmin_l1 = tQmin_l0 - rho * rho1 * (jointMax[joint] - jointMin[joint]);
283 double tQmax_l1 = tQmax_l0 + rho * rho1 * (jointMax[joint] - jointMin[joint]);
285 data[8] = 2 * (tQmin_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
286 data[9] = 2 * (tQmax_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
287 data[10] = 2 * (tQmin_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
288 data[11] = 2 * (tQmax_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
289 plot.plot(0, iter, data);
291 plot.plot(1, iter, sec_task);
302 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
310 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
void buildFrom(double x, double y, double Z)
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)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
static const vpColor black
Class to define RGB colors available for display functionnalities.
void set_eJe(const vpMatrix &eJe_)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
error that can be emited by ViSP classes.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static void flush(const vpImage< unsigned char > &I)
static const vpColor orange
vpImagePoint getCog() const
Initialize the velocity controller.
static const vpColor cyan
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
vpColVector getJointMin() const
void get_cVe(vpVelocityTwistMatrix &cVe) const
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
vpColVector getJointMax() const
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
const char * getMessage() const
void setServo(const vpServoType &servo_type)
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
static const vpColor blue