Visual Servoing Platform version 3.5.0
servoAfma6Point2DArtVelocity.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * tests the control law
33 * eye-in-hand control
34 * velocity computed in articular
35 *
36 * Authors:
37 * Eric Marchand
38 * Fabien Spindler
39 *
40 *****************************************************************************/
41
61#include <fstream>
62#include <iostream>
63#include <sstream>
64#include <stdio.h>
65#include <stdlib.h>
66#include <visp3/core/vpConfig.h>
67#include <visp3/core/vpDebug.h> // Debug trace
68#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
69
70#include <visp3/core/vpDisplay.h>
71#include <visp3/core/vpImage.h>
72#include <visp3/core/vpImagePoint.h>
73#include <visp3/gui/vpDisplayGTK.h>
74#include <visp3/gui/vpDisplayOpenCV.h>
75#include <visp3/gui/vpDisplayX.h>
76#include <visp3/sensor/vp1394TwoGrabber.h>
77
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpIoTools.h>
80#include <visp3/core/vpMath.h>
81#include <visp3/core/vpPoint.h>
82#include <visp3/robot/vpRobotAfma6.h>
83#include <visp3/visual_features/vpFeatureBuilder.h>
84#include <visp3/visual_features/vpFeaturePoint.h>
85#include <visp3/vs/vpServo.h>
86
87// Exception
88#include <visp3/core/vpException.h>
89#include <visp3/vs/vpServoDisplay.h>
90
91#include <visp3/blob/vpDot.h>
92
93int main()
94{
95 // Log file creation in /tmp/$USERNAME/log.dat
96 // This file contains by line:
97 // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
98 // - the 6 mesured joint velocities (m/s, rad/s)
99 // - the 6 mesured joint positions (m, rad)
100 // - the 2 values of s - s*
101 std::string username;
102 // Get the user login name
103 vpIoTools::getUserName(username);
104
105 // Create a log filename to save velocities...
106 std::string logdirname;
107 logdirname = "/tmp/" + username;
108
109 // Test if the output path exist. If no try to create it
110 if (vpIoTools::checkDirectory(logdirname) == false) {
111 try {
112 // Create the dirname
113 vpIoTools::makeDirectory(logdirname);
114 } catch (...) {
115 std::cerr << std::endl << "ERROR:" << std::endl;
116 std::cerr << " Cannot create " << logdirname << std::endl;
117 exit(-1);
118 }
119 }
120 std::string logfilename;
121 logfilename = logdirname + "/log.dat";
122
123 // Open the log file name
124 std::ofstream flog(logfilename.c_str());
125
126 try {
127 vpServo task;
128
130
134 g.open(I);
135
136 g.acquire(I);
137
138#ifdef VISP_HAVE_X11
139 vpDisplayX display(I, 100, 100, "Current image");
140#elif defined(VISP_HAVE_OPENCV)
141 vpDisplayOpenCV display(I, 100, 100, "Current image");
142#elif defined(VISP_HAVE_GTK)
143 vpDisplayGTK display(I, 100, 100, "Current image");
144#endif
145
148 // exit(1) ;
149
150 std::cout << std::endl;
151 std::cout << "-------------------------------------------------------" << std::endl;
152 std::cout << " Test program for vpServo " << std::endl;
153 std::cout << " Eye-in-hand task control, velocity computed in the joint space" << std::endl;
154 std::cout << " Use of the Afma6 robot " << std::endl;
155 std::cout << " task : servo a point " << std::endl;
156 std::cout << "-------------------------------------------------------" << std::endl;
157 std::cout << std::endl;
158
159 vpDot dot;
160 vpImagePoint cog;
161
162 std::cout << "Click on a dot..." << std::endl;
163 dot.initTracking(I);
164 // Get the dot cog
165 cog = dot.getCog();
168
169 vpRobotAfma6 robot;
170
172 // Update camera parameters
173 robot.getCameraParameters(cam, I);
174
175 vpTRACE("sets the current position of the visual feature ");
177 vpFeatureBuilder::create(p, cam, dot); // retrieve x,y and Z of the vpPoint structure
178
179 p.set_Z(1);
180 vpTRACE("sets the desired position of the visual feature ");
182 pd.buildFrom(0, 0, 1);
183
184 vpTRACE("define the task");
185 vpTRACE("\t we want an eye-in-hand control law");
186 vpTRACE("\t articular velocity are computed");
189
190 vpTRACE("Set the position of the end-effector frame in the camera frame");
192 // robot.get_cMe(cMe) ;
193
195 robot.get_cVe(cVe);
196 std::cout << cVe << std::endl;
197 task.set_cVe(cVe);
198
199 // vpDisplay::getClick(I) ;
200 vpTRACE("Set the Jacobian (expressed in the end-effector frame)");
201 vpMatrix eJe;
202 robot.get_eJe(eJe);
203 task.set_eJe(eJe);
204
205 vpTRACE("\t we want to see a point on a point..");
206 std::cout << std::endl;
207 task.addFeature(p, pd);
208
209 vpTRACE("\t set the gain");
210 task.setLambda(0.8);
211
212 vpTRACE("Display task information ");
213 task.print();
214
216
217 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
218 for (;;) {
219 // Acquire a new image from the camera
220 g.acquire(I);
221
222 // Display this image
224
225 // Achieve the tracking of the dot in the image
226 dot.track(I);
227
228 // Get the dot cog
229 cog = dot.getCog();
230
231 // Display a green cross at the center of gravity position in the image
233
234 // Update the point feature from the dot location
235 vpFeatureBuilder::create(p, cam, dot);
236
237 // Get the jacobian of the robot
238 robot.get_eJe(eJe);
239 // Update this jacobian in the task structure. It will be used to
240 // compute the velocity skew (as an articular velocity) qdot = -lambda *
241 // L^+ * cVe * eJe * (s-s*)
242 task.set_eJe(eJe);
243
244 // std::cout << (vpMatrix)cVe*eJe << std::endl ;
245
246 vpColVector v;
247 // Compute the visual servoing skew vector
248 v = task.computeControlLaw();
249
250 // Display the current and desired feature points in the image display
251 vpServoDisplay::display(task, cam, I);
252
253 // Apply the computed joint velocities to the robot
255
256 // Save velocities applied to the robot in the log file
257 // v[0], v[1], v[2] correspond to joint translation velocities in m/s
258 // v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
259 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
260
261 // Get the measured joint velocities of the robot
262 vpColVector qvel;
264 // Save measured joint velocities of the robot in the log file:
265 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
266 // velocities in m/s
267 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
268 // velocities in rad/s
269 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
270
271 // Get the measured joint positions of the robot
272 vpColVector q;
273 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
274 // Save measured joint positions of the robot in the log file
275 // - q[0], q[1], q[2] correspond to measured joint translation
276 // positions in m
277 // - q[3], q[4], q[5] correspond to measured joint rotation
278 // positions in rad
279 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
280
281 // Save feature error (s-s*) for the feature point. For this feature
282 // point, we have 2 errors (along x and y axis). This error is
283 // expressed in meters in the camera frame
284 flog << (task.getError()).t() << std::endl;
286
287 // vpTRACE("\t\t || s - s* || = %f ", ( task.getError()
288 // ).sumSquare()) ;
289 }
290
291 flog.close(); // Close the log file
292
293 vpTRACE("Display task information ");
294 task.print();
295 return EXIT_SUCCESS;
296 }
297 catch (const vpException &e) {
298 flog.close(); // Close the log file
299 std::cout << "Test failed with exception: " << e << std::endl;
300 return EXIT_FAILURE;
301 }
302}
303
304#else
305int main()
306{
307 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
308 return EXIT_SUCCESS;
309}
310#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor blue
Definition: vpColor.h:223
static const vpColor green
Definition: vpColor.h:220
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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...
Definition: vpDisplayX.h:135
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 dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:635
vpImagePoint getCog() const
Definition: vpDot.h:247
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:770
error that can be emited by ViSP classes.
Definition: vpException.h:72
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)
void set_Z(double Z)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string getUserName()
Definition: vpIoTools.cpp:316
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void get_eJe(vpMatrix &eJe)
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
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)
Definition: vpServo.cpp:567
@ EYEINHAND_L_cVe_eJe
Definition: vpServo.h:159
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition: vpServo.h:448
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void set_eJe(const vpMatrix &eJe_)
Definition: vpServo.h:506
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
@ PSEUDO_INVERSE
Definition: vpServo.h:202
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ DESIRED
Definition: vpServo.h:186
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:82
#define vpTRACE
Definition: vpDebug.h:416