46 #include <visp3/core/vpConfig.h>
47 #include <visp3/core/vpDebug.h>
55 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
57 #include <visp3/blob/vpDot2.h>
58 #include <visp3/core/vpDisplay.h>
59 #include <visp3/core/vpException.h>
60 #include <visp3/core/vpHomogeneousMatrix.h>
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpIoTools.h>
63 #include <visp3/core/vpMath.h>
64 #include <visp3/core/vpPoint.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/gui/vpDisplayOpenCV.h>
67 #include <visp3/gui/vpDisplayX.h>
68 #include <visp3/gui/vpPlot.h>
69 #include <visp3/robot/vpRobotViper850.h>
70 #include <visp3/sensor/vp1394TwoGrabber.h>
71 #include <visp3/visual_features/vpFeatureBuilder.h>
72 #include <visp3/visual_features/vpFeaturePoint.h>
73 #include <visp3/vs/vpServo.h>
74 #include <visp3/vs/vpServoDisplay.h>
95 #elif defined(HAVE_OPENCV_HIGHGUI)
97 #elif defined(VISP_HAVE_GTK)
105 jointMin = robot.getJointMin();
106 jointMax = robot.getJointMax();
114 for (
unsigned int i = 0; i < 6; i++) {
115 Qmin[i] = jointMin[i] + 0.5 * rho * (jointMax[i] - jointMin[i]);
116 Qmax[i] = jointMax[i] - 0.5 * rho * (jointMax[i] - jointMin[i]);
118 Qmiddle = (Qmin + Qmax) / 2.;
121 for (
unsigned int i = 0; i < 6; i++) {
122 tQmin[i] = Qmin[i] + 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
123 tQmax[i] = Qmax[i] - 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
135 plot.initGraph(0, 10);
137 plot.initGraph(1, 1);
142 plot.initRange(0, 0., 200., -1.2, 1.2);
143 plot.setTitle(0,
"Joint behavior");
150 plot.initRange(1, 0., 200., 0., 1e-4);
151 plot.setTitle(1,
"Cost function");
155 for (
unsigned int i = 0; i < 6; i++) {
156 legend =
"q" + i + 1;
157 plot.setLegend(0, i, legend);
159 plot.setLegend(0, 6,
"tQmin");
160 plot.setLegend(0, 7,
"tQmax");
161 plot.setLegend(0, 8,
"Qmin");
162 plot.setLegend(0, 9,
"Qmax");
169 plot.setColor(0, 4,
vpColor(0, 128, 0));
171 for (
unsigned int i = 6; i < 10; i++)
175 plot.setLegend(1, 0,
"h_s");
180 std::cout <<
" Give the parameters beta (1) : ";
185 std::cout <<
"Click on a dot..." << std::endl;
193 robot.getCameraParameters(cam, I);
212 std::cout << cVe << std::endl;
221 std::cout << std::endl;
233 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
275 for (
unsigned int i = 0; i < 6; i++) {
281 double D = (Qmax[i] - Qmin[i]);
285 h_s = beta * h_s / 2.0;
287 std::cout <<
"Cost function h_s: " << h_s << std::endl;
293 v = prim_task + sec_task;
305 for (
unsigned int i = 0; i < 6; i++) {
306 data[i] = (q[i] - Qmiddle[i]);
307 data[i] /= (Qmax[i] - Qmin[i]);
310 unsigned int joint = 2;
311 data[6] = 2 * (tQmin[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
312 data[7] = 2 * (tQmax[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
315 plot.plot(0, iter, data);
316 plot.plot(1, 0, iter, h_s);
326 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
334 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
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 ...
static double sqr(double x)
Implementation of a matrix and operations on matrices.
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_)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
void setServo(const vpServoType &servo_type)
vpColVector computeControlLaw()
vpVelocityTwistMatrix get_cVe() const
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.