46 #include <visp3/core/vpConfig.h>
47 #include <visp3/core/vpDebug.h>
55 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394_2) && 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();
111 Qmiddle = (jointMin + jointMax) / 2.;
126 plot.initGraph(0, 12);
128 plot.initGraph(1, 6);
133 plot.initRange(0, 0., 200., -1.2, 1.2);
134 plot.setTitle(0,
"Joint behavior");
137 plot.setTitle(1,
"Q secondary task");
141 for (
unsigned int i = 0; i < 6; i++) {
142 legend =
"q" + i + 1;
143 plot.setLegend(0, i, legend);
144 plot.setLegend(1, i, legend);
146 plot.setLegend(0, 6,
"Low Limit");
147 plot.setLegend(0, 7,
"Upper Limit");
148 plot.setLegend(0, 8,
"ql0 min");
149 plot.setLegend(0, 9,
"ql0 max");
150 plot.setLegend(0, 10,
"ql1 min");
151 plot.setLegend(0, 11,
"ql1 max");
158 plot.setColor(0, 4,
vpColor(0, 128, 0));
160 for (
unsigned int i = 6; i < 12; i++)
167 std::cout <<
"Click on a dot..." << std::endl;
175 robot.getCameraParameters(cam, I);
194 std::cout << cVe << std::endl;
203 std::cout << std::endl;
215 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
252 v = prim_task + sec_task;
264 for (
unsigned int i = 0; i < 6; i++) {
265 data[i] = (q[i] - Qmiddle[i]);
266 data[i] /= (jointMax[i] - jointMin[i]);
273 unsigned int joint = 2;
274 double tQmin_l0 = jointMin[joint] + rho * (jointMax[joint] - jointMin[joint]);
275 double tQmax_l0 = jointMax[joint] - rho * (jointMax[joint] - jointMin[joint]);
277 double tQmin_l1 = tQmin_l0 - rho * rho1 * (jointMax[joint] - jointMin[joint]);
278 double tQmax_l1 = tQmax_l0 + rho * rho1 * (jointMax[joint] - jointMin[joint]);
280 data[8] = 2 * (tQmin_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
281 data[9] = 2 * (tQmax_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
282 data[10] = 2 * (tQmin_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
283 data[11] = 2 * (tQmax_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
284 plot.plot(0, iter, data);
286 plot.plot(1, iter, sec_task);
296 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
304 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 ...
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_)
vpColVector secondaryTaskJointLimitAvoidance(const vpColVector &q, const vpColVector &dq, const vpColVector &qmin, const vpColVector &qmax, const double &rho=0.1, const double &rho1=0.3, const double &lambda_tune=0.7)
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)
vpColVector computeControlLaw()
vpVelocityTwistMatrix get_cVe() const
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.