Visual Servoing Platform version 3.5.0
servoAfma6FourPoints2DArtVelocity.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 the articular frame
35 *
36 * Authors:
37 * Eric Marchand
38 * Fabien Spindler
39 *
40 *****************************************************************************/
60#include <fstream>
61#include <iostream>
62#include <sstream>
63#include <stdio.h>
64#include <stdlib.h>
65#include <visp3/core/vpConfig.h>
66#include <visp3/core/vpDebug.h> // Debug trace
67#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
68
69#include <visp3/core/vpDisplay.h>
70#include <visp3/core/vpImage.h>
71#include <visp3/core/vpImagePoint.h>
72#include <visp3/gui/vpDisplayGTK.h>
73#include <visp3/gui/vpDisplayOpenCV.h>
74#include <visp3/gui/vpDisplayX.h>
75#include <visp3/sensor/vp1394TwoGrabber.h>
76
77#include <visp3/core/vpHomogeneousMatrix.h>
78#include <visp3/core/vpIoTools.h>
79#include <visp3/core/vpMath.h>
80#include <visp3/core/vpPoint.h>
81#include <visp3/robot/vpRobotAfma6.h>
82#include <visp3/visual_features/vpFeatureBuilder.h>
83#include <visp3/visual_features/vpFeaturePoint.h>
84#include <visp3/vs/vpServo.h>
85
86// Exception
87#include <visp3/core/vpException.h>
88#include <visp3/vs/vpServoDisplay.h>
89
90#include <visp3/blob/vpDot.h>
91
92int main()
93{
94 // Log file creation in /tmp/$USERNAME/log.dat
95 // This file contains by line:
96 // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
97 // - the 6 mesured joint velocities (m/s, rad/s)
98 // - the 6 mesured joint positions (m, rad)
99 // - the 8 values of s - s*
100 std::string username;
101 // Get the user login name
102 vpIoTools::getUserName(username);
103
104 // Create a log filename to save velocities...
105 std::string logdirname;
106 logdirname = "/tmp/" + username;
107
108 // Test if the output path exist. If no try to create it
109 if (vpIoTools::checkDirectory(logdirname) == false) {
110 try {
111 // Create the dirname
112 vpIoTools::makeDirectory(logdirname);
113 } catch (...) {
114 std::cerr << std::endl << "ERROR:" << std::endl;
115 std::cerr << " Cannot create " << logdirname << std::endl;
116 exit(-1);
117 }
118 }
119 std::string logfilename;
120 logfilename = logdirname + "/log.dat";
121
122 // Open the log file name
123 std::ofstream flog(logfilename.c_str());
124
125 try {
126// Define the square CAD model
127// Square dimention
128#define L 0.075
129// Distance between the camera and the square at the desired
130// position after visual servoing convergence
131#define D 0.5
132
133 vpServo task;
134
136 int i;
137
141 g.open(I);
142
143 g.acquire(I);
144
145#ifdef VISP_HAVE_X11
146 vpDisplayX display(I, 100, 100, "Current image");
147#elif defined(VISP_HAVE_OPENCV)
148 vpDisplayOpenCV display(I, 100, 100, "Current image");
149#elif defined(VISP_HAVE_GTK)
150 vpDisplayGTK display(I, 100, 100, "Current image");
151#endif
152
155
156 std::cout << std::endl;
157 std::cout << "-------------------------------------------------------" << std::endl;
158 std::cout << " Test program for vpServo " << std::endl;
159 std::cout << " Eye-in-hand task control, velocity computed in the joint space" << std::endl;
160 std::cout << " Use of the Afma6 robot " << std::endl;
161 std::cout << " task : servo 4 points on a square with dimention " << L << " meters" << std::endl;
162 std::cout << "-------------------------------------------------------" << std::endl;
163 std::cout << std::endl;
164
165 vpDot dot[4];
166 vpImagePoint cog;
167
168 std::cout << "Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
169
170 for (i = 0; i < 4; i++) {
171 dot[i].initTracking(I);
172 cog = dot[i].getCog();
175 }
176
177 vpRobotAfma6 robot;
178
180
181 // Update camera parameters
182 robot.getCameraParameters(cam, I);
183
184 // Sets the current position of the visual feature
185 vpFeaturePoint p[4];
186 for (i = 0; i < 4; i++)
187 vpFeatureBuilder::create(p[i], cam, dot[i]); // retrieve x,y and Z of the vpPoint structure
188
189 // sets the desired position of the visual feature
190 vpFeaturePoint pd[4];
191
192 pd[0].buildFrom(-L, -L, D);
193 pd[1].buildFrom(L, -L, D);
194 pd[2].buildFrom(L, L, D);
195 pd[3].buildFrom(-L, L, D);
196
197 // We want to see a point on a point
198 std::cout << std::endl;
199 for (i = 0; i < 4; i++)
200 task.addFeature(p[i], pd[i]);
201
202 // Set the proportional gain
203 task.setLambda(0.2);
204
205 // Display task information
206 task.print();
207
208 // Define the task
209 // - we want an eye-in-hand control law
210 // - articular velocity are computed
213 task.print();
214
216 robot.get_cVe(cVe);
217 task.set_cVe(cVe);
218 task.print();
219
220 // Set the Jacobian (expressed in the end-effector frame)
221 vpMatrix eJe;
222 robot.get_eJe(eJe);
223 task.set_eJe(eJe);
224 task.print();
225
226 // Initialise the velocity control of the robot
228
229 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
230 for (;;) {
231 // Acquire a new image from the camera
232 g.acquire(I);
233
234 // Display this image
236
237 try {
238 // For each point...
239 for (i = 0; i < 4; i++) {
240 // Achieve the tracking of the dot in the image
241 dot[i].track(I);
242 // Get the dot cog
243 cog = dot[i].getCog();
244 // Display a green cross at the center of gravity position in the
245 // image
247 }
248 } catch (...) {
249 flog.close(); // Close the log file
250 vpTRACE("Error detected while tracking visual features");
251 robot.stopMotion();
252 exit(1);
253 }
254
255 // Update the point feature from the dot location
256 for (i = 0; i < 4; i++)
257 vpFeatureBuilder::create(p[i], cam, dot[i]);
258
259 // Get the jacobian of the robot
260 robot.get_eJe(eJe);
261 // Update this jacobian in the task structure. It will be used to
262 // compute the velocity skew (as an articular velocity) qdot = -lambda *
263 // L^+ * cVe * eJe * (s-s*)
264 task.set_eJe(eJe);
265
266 vpColVector v;
267 // Compute the visual servoing skew vector
268 v = task.computeControlLaw();
269
270 // Display the current and desired feature points in the image display
271 vpServoDisplay::display(task, cam, I);
272
273 // Apply the computed joint velocities to the robot
275
276 // Save velocities applied to the robot in the log file
277 // v[0], v[1], v[2] correspond to joint translation velocities in m/s
278 // v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
279 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
280
281 // Get the measured joint velocities of the robot
282 vpColVector qvel;
284 // Save measured joint velocities of the robot in the log file:
285 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
286 // velocities in m/s
287 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
288 // velocities in rad/s
289 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
290
291 // Get the measured joint positions of the robot
292 vpColVector q;
293 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
294 // Save measured joint positions of the robot in the log file
295 // - q[0], q[1], q[2] correspond to measured joint translation
296 // positions in m
297 // - q[3], q[4], q[5] correspond to measured joint rotation
298 // positions in rad
299 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
300
301 // Save feature error (s-s*) for the 4 feature points. For each feature
302 // point, we have 2 errors (along x and y axis). This error is
303 // expressed in meters in the camera frame
304 flog << (task.getError()).t() << std::endl;
305
306 // Flush the display
308
309 // vpTRACE("\t\t || s - s* || = %f ", ( task.getError()
310 //).sumSquare()) ;
311 }
312
313 vpTRACE("Display task information ");
314 task.print();
315 flog.close(); // Close the log file
316 return EXIT_SUCCESS;
317 }
318 catch (const vpException &e) {
319 flog.close(); // Close the log file
320 std::cout << "Test failed with exception: " << e << std::endl;
321 return EXIT_FAILURE;
322 }
323}
324
325#else
326int main()
327{
328 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
329 return EXIT_SUCCESS;
330}
331
332#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)
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