Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
servoAfma6Line2DCamVelocity.cpp

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. The visual feature is a line.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
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* 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 the camera frame
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/me/vpMeLine.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotAfma6.h>
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
int main()
{
try {
g.open(I);
g.acquire(I);
#ifdef VISP_HAVE_X11
vpDisplayX display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I, 100, 100, "Current image");
#endif
vpServo task;
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;
vpMeLine line;
vpMe me;
me.setRange(10);
me.setThreshold(100000);
me.setSampleStep(10);
line.setMe(&me);
// Initialize the tracking. Define the line to track.
line.initTracking(I);
line.track(I);
vpRobotAfma6 robot;
// robot.move("pos-init.pos") ;
// Update camera parameters
robot.getCameraParameters(cam, I);
vpTRACE("sets the current position of the visual feature ");
vpFeatureBuilder::create(p, cam, line);
vpTRACE("sets the desired position of the visual feature ");
vpLine lined;
lined.setWorldCoordinates(1, 0, 0, 0, 0, 0, 1, 0);
vpHomogeneousMatrix cMo(0, 0, 0.3, 0, 0, vpMath::rad(0));
lined.project(cMo);
lined.setRho(-fabs(lined.getRho()));
lined.setTheta(0);
vpTRACE("define the task");
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;
task.addFeature(p, pd);
vpTRACE("\t set the gain");
task.setLambda(0.2);
vpTRACE("Display task information ");
task.print();
unsigned int iter = 0;
vpTRACE("\t loop");
for (;;) {
std::cout << "---------------------------------------------" << iter << std::endl;
try {
g.acquire(I);
// Track the line
line.track(I);
// Update the current line feature
vpFeatureBuilder::create(p, cam, line);
// displqy the current and the desired features
p.display(cam, I, vpColor::red);
pd.display(cam, I, vpColor::green);
v = task.computeControlLaw();
if (iter == 0)
} catch (...) {
v = 0;
robot.stopMotion();
exit(1);
}
vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
iter++;
}
vpTRACE("Display task information ");
task.print();
return EXIT_SUCCESS;
} catch (const vpException &e) {
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