Joint limits avoidance by stopping the motion on axis near the joint limits.
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <cmath>
#include <fstream>
#include <iostream>
#include <limits>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpPlot.h>
#include <visp3/robot/vpRobotViper850.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
#endif
try {
bool reset = false;
double Tloop = 1. / 60.f;
switch (fps) {
Tloop = 1.f / 15.f;
break;
Tloop = 1.f / 30.f;
break;
Tloop = 1.f / 60.f;
break;
Tloop = 1.f / 120.f;
break;
default:
break;
}
std::cout << "Tloop: " << Tloop << std::endl;
#ifdef VISP_HAVE_X11
vpDisplayX display(I, 800, 100, "Current image");
#elif defined(HAVE_OPENCV_HIGHGUI)
#elif defined(VISP_HAVE_GTK)
#endif
jointMin = robot.getJointMin();
jointMax = robot.getJointMax();
double rho = 0.25;
for (unsigned int i = 0; i < 6; i++) {
Qmin[i] = jointMin[i] + 0.5 * rho * (jointMax[i] - jointMin[i]);
Qmax[i] = jointMax[i] - 0.5 * rho * (jointMax[i] - jointMin[i]);
}
Qmiddle = (Qmin + Qmax) / 2.;
double rho1 = 0.1;
for (unsigned int i = 0; i < 6; i++) {
tQmin[i] = Qmin[i] + 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
tQmax[i] = Qmax[i] - 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
}
plot.
initRange(0, 0, 200, 1, -1.2, 1.2, 0.1);
plot.
initRange(1, 0, 200, 1, -0.01, 0.01, 0.05);
std::string legend;
for (unsigned int i = 0; i < 6; i++) {
legend = "q" + i + 1;
}
for (unsigned int i = 6; i < 10; i++)
std::cout << "Click on a dot..." << std::endl;
robot.getCameraParameters(cam, I);
std::cout << cVe << std::endl;
std::cout << std::endl;
double lambda = 0.8;
int iter = 0;
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for (;;) {
iter++;
double Tv = (double)(t_0 - t_1) / 1000.0;
std::cout << "Tv: " << Tv << std::endl;
t_1 = t_0;
dc1394video_frame_t *frame = g.
dequeue(I);
qpre = q;
qpre += -lambda * prim_task * (4 * Tloop);
pb = 0;
unsigned int npb = 0;
for (unsigned int i = 0; i < 6; i++) {
if (q[i] < tQmin[i])
if (fabs(Qmin[i] - q[i]) > fabs(Qmin[i] - qpre[i])) {
pb[i] = 1;
npb++;
std::cout << "Joint " << i << " near limit " << std::endl;
}
if (q[i] > tQmax[i]) {
if (fabs(Qmax[i] - q[i]) > fabs(Qmax[i] - qpre[i])) {
pb[i] = 1;
npb++;
std::cout << "Joint " << i << " near limit " << std::endl;
}
}
}
unsigned int dimKernelL = kernelJ1.
getCols();
if (npb != 0) {
unsigned int k = 0;
for (unsigned int j = 0; j < 6; j++)
if (std::fabs(pb[j] - 1) <= std::numeric_limits<double>::epsilon()) {
for (unsigned int i = 0; i < dimKernelL; i++)
E[k][i] = kernelJ1[j][i];
S[k] = -prim_task[j];
k++;
}
Ep = E.
t() * (E * E.
t()).pseudoInverse();
a0 = Ep * S;
e2 = (kernelJ1 * a0);
}
else {
e2 = 0;
}
v = -lambda * (prim_task + e2);
{
for (unsigned int i = 0; i < 6; i++) {
data[i] = (q[i] - Qmiddle[i]);
data[i] /= (Qmax[i] - Qmin[i]);
data[i] *= 2;
}
unsigned int joint = 2;
data[6] = 2 * (tQmin[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
data[7] = 2 * (tQmax[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
data[8] = -1;
data[9] = 1;
plot.
plot(0, iter, data);
}
}
return EXIT_SUCCESS;
}
std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an Viper 850 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void getFramerate(vp1394TwoFramerateType &fps)
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
void enqueue(dc1394video_frame_t *frame)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
dc1394video_frame_t * dequeue()
void open(vpImage< unsigned char > &I)
unsigned int getCols() const
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
static const vpColor cyan
static const vpColor orange
static const vpColor blue
static const vpColor black
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emitted by ViSP classes.
const char * getMessage() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
vpFeaturePoint & buildFrom(const double &x, const double &y, const double &Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
unsigned int kernel(vpMatrix &kerAt, double svThreshold=1e-6) const
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void initRange(unsigned int graphNum, double xmin, double xmax, double ymin, double ymax)
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
void setTitle(unsigned int graphNum, const std::string &title)
void get_eJe(vpMatrix &eJe) VP_OVERRIDE
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
Control of Irisa's Viper S850 robot named Viper850.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpMatrix getTaskJacobian() const
vpColVector computeControlLaw()
vpVelocityTwistMatrix get_cVe() const
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()