47 #include <visp3/core/vpConfig.h>
48 #include <visp3/core/vpDebug.h>
58 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
60 #include <visp3/blob/vpDot2.h>
61 #include <visp3/core/vpDisplay.h>
62 #include <visp3/core/vpException.h>
63 #include <visp3/core/vpHomogeneousMatrix.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/core/vpPoint.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/gui/vpDisplayOpenCV.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/gui/vpPlot.h>
72 #include <visp3/robot/vpRobotViper850.h>
73 #include <visp3/sensor/vp1394TwoGrabber.h>
74 #include <visp3/visual_features/vpFeatureBuilder.h>
75 #include <visp3/visual_features/vpFeaturePoint.h>
76 #include <visp3/vs/vpServo.h>
77 #include <visp3/vs/vpServoDisplay.h>
96 double Tloop = 1. / 60.f;
116 std::cout <<
"Tloop: " << Tloop << std::endl;
120 #elif defined(HAVE_OPENCV_HIGHGUI)
122 #elif defined(VISP_HAVE_GTK)
130 jointMin = robot.getJointMin();
131 jointMax = robot.getJointMax();
139 for (
unsigned int i = 0; i < 6; i++) {
140 Qmin[i] = jointMin[i] + 0.5 * rho * (jointMax[i] - jointMin[i]);
141 Qmax[i] = jointMax[i] - 0.5 * rho * (jointMax[i] - jointMin[i]);
143 Qmiddle = (Qmin + Qmax) / 2.;
146 for (
unsigned int i = 0; i < 6; i++) {
147 tQmin[i] = Qmin[i] + 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
148 tQmax[i] = Qmax[i] - 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
160 plot.initGraph(0, 10);
161 plot.initGraph(1, 6);
168 plot.initRange(0, 0, 200, 1, -1.2, 1.2, 0.1);
169 plot.setTitle(0,
"Joint behavior");
170 plot.initRange(1, 0, 200, 1, -0.01, 0.01, 0.05);
171 plot.setTitle(1,
"Joint velocity");
175 for (
unsigned int i = 0; i < 6; i++) {
176 legend =
"q" + i + 1;
177 plot.setLegend(0, i, legend);
178 plot.setLegend(1, i, legend);
180 plot.setLegend(0, 6,
"tQmin");
181 plot.setLegend(0, 7,
"tQmax");
182 plot.setLegend(0, 8,
"Qmin");
183 plot.setLegend(0, 9,
"Qmax");
190 plot.setColor(0, 4,
vpColor(0, 128, 0));
192 for (
unsigned int i = 6; i < 10; i++)
200 plot.setColor(1, 4,
vpColor(0, 128, 0));
204 std::cout <<
"Click on a dot..." << std::endl;
212 robot.getCameraParameters(cam, I);
231 std::cout << cVe << std::endl;
240 std::cout << std::endl;
257 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
264 double Tv = (double)(t_0 - t_1) / 1000.0;
265 std::cout <<
"Tv: " << Tv << std::endl;
271 dc1394video_frame_t *frame = g.dequeue(I);
304 qpre += -lambda * prim_task * (4 * Tloop);
309 unsigned int npb = 0;
310 for (
unsigned int i = 0; i < 6; i++) {
312 if (fabs(Qmin[i] - q[i]) > fabs(Qmin[i] - qpre[i])) {
315 std::cout <<
"Joint " << i <<
" near limit " << std::endl;
317 if (q[i] > tQmax[i]) {
318 if (fabs(Qmax[i] - q[i]) > fabs(Qmax[i] - qpre[i])) {
321 std::cout <<
"Joint " << i <<
" near limit " << std::endl;
331 unsigned int dimKernelL = kernelJ1.
getCols();
339 for (
unsigned int j = 0; j < 6; j++)
340 if (std::fabs(pb[j] - 1) <= std::numeric_limits<double>::epsilon()) {
341 for (
unsigned int i = 0; i < dimKernelL; i++)
342 E[k][i] = kernelJ1[j][i];
344 S[k] = -prim_task[j];
349 Ep = E.
t() * (E * E.t()).pseudoInverse();
352 e2 = (kernelJ1 * a0);
360 v = -lambda * (prim_task + e2);
372 for (
unsigned int i = 0; i < 6; i++) {
373 data[i] = (q[i] - Qmiddle[i]);
374 data[i] /= (Qmax[i] - Qmin[i]);
377 unsigned int joint = 2;
378 data[6] = 2 * (tQmin[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
379 data[7] = 2 * (tQmax[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
383 plot.plot(0, iter, data);
384 plot.plot(1, iter, v);
399 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
407 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
@ vpVIDEO_MODE_640x480_MONO8
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 black
static const vpColor cyan
static const vpColor orange
static const vpColor blue
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...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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 vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, 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 get_eJe(vpMatrix &eJe) vp_override
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
@ 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
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()