Visual Servoing Platform version 3.5.0
servoAfma6SquareLines2DCamVelocity.cpp
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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
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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 *
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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 camera frame
35 *
36 * Authors:
37 * Eric Marchand
38 *
39 *****************************************************************************/
59#include <cmath> // std::fabs
60#include <limits> // numeric_limits
61#include <stdlib.h>
62#include <visp3/core/vpConfig.h>
63#include <visp3/core/vpDebug.h> // Debug trace
64#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65
66#include <visp3/core/vpDisplay.h>
67#include <visp3/core/vpImage.h>
68#include <visp3/gui/vpDisplayGTK.h>
69#include <visp3/gui/vpDisplayOpenCV.h>
70#include <visp3/gui/vpDisplayX.h>
71#include <visp3/io/vpImageIo.h>
72#include <visp3/sensor/vp1394TwoGrabber.h>
73
74#include <visp3/core/vpHomogeneousMatrix.h>
75#include <visp3/core/vpLine.h>
76#include <visp3/core/vpMath.h>
77#include <visp3/me/vpMeLine.h>
78#include <visp3/visual_features/vpFeatureBuilder.h>
79#include <visp3/visual_features/vpFeatureLine.h>
80#include <visp3/vs/vpServo.h>
81
82#include <visp3/robot/vpRobotAfma6.h>
83
84// Exception
85#include <visp3/core/vpException.h>
86#include <visp3/vs/vpServoDisplay.h>
87
88int main()
89{
90 try {
92
96 g.open(I);
97
98 g.acquire(I);
99
100#ifdef VISP_HAVE_X11
101 vpDisplayX display(I, 100, 100, "Current image");
102#elif defined(VISP_HAVE_OPENCV)
103 vpDisplayOpenCV display(I, 100, 100, "Current image");
104#elif defined(VISP_HAVE_GTK)
105 vpDisplayGTK display(I, 100, 100, "Current image");
106#endif
107
110
111 vpServo task;
112
113 std::cout << std::endl;
114 std::cout << "-------------------------------------------------------" << std::endl;
115 std::cout << " Test program for vpServo " << std::endl;
116 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
117 std::cout << " Simulation " << std::endl;
118 std::cout << " task : servo a line " << std::endl;
119 std::cout << "-------------------------------------------------------" << std::endl;
120 std::cout << std::endl;
121
122 int i;
123 int nbline = 4;
124
125 vpMeLine line[nbline];
126
127 vpMe me;
128 me.setRange(10);
129 me.setPointsToTrack(100);
130 me.setThreshold(50000);
131 me.setSampleStep(10);
132
133 // Initialize the tracking. Define the four lines to track.
134 for (i = 0; i < nbline; i++) {
136 line[i].setMe(&me);
137
138 line[i].initTracking(I);
139 line[i].track(I);
140 }
141
142 vpRobotAfma6 robot;
143 // robot.move("zero.pos") ;
144
146 // Update camera parameters
147 robot.getCameraParameters(cam, I);
148
149 vpTRACE("sets the current position of the visual feature ");
150 vpFeatureLine p[nbline];
151 for (i = 0; i < nbline; i++)
152 vpFeatureBuilder::create(p[i], cam, line[i]);
153
154 vpTRACE("sets the desired position of the visual feature ");
155 vpLine lined[nbline];
156 lined[0].setWorldCoordinates(1, 0, 0, 0.05, 0, 0, 1, 0);
157 lined[1].setWorldCoordinates(0, 1, 0, 0.05, 0, 0, 1, 0);
158 lined[2].setWorldCoordinates(1, 0, 0, -0.05, 0, 0, 1, 0);
159 lined[3].setWorldCoordinates(0, 1, 0, -0.05, 0, 0, 1, 0);
160
161 vpHomogeneousMatrix cMo(0, 0, 0.5, 0, 0, vpMath::rad(0));
162
163 lined[0].project(cMo);
164 lined[1].project(cMo);
165 lined[2].project(cMo);
166 lined[3].project(cMo);
167
168 // Those lines are needed to keep the conventions define in vpMeLine
169 // (Those in vpLine are less restrictive) Another way to have the
170 // coordinates of the desired features is to learn them before executing
171 // the program.
172 lined[0].setRho(-fabs(lined[0].getRho()));
173 lined[0].setTheta(0);
174 lined[1].setRho(-fabs(lined[1].getRho()));
175 lined[1].setTheta(M_PI / 2);
176 lined[2].setRho(-fabs(lined[2].getRho()));
177 lined[2].setTheta(M_PI);
178 lined[3].setRho(-fabs(lined[3].getRho()));
179 lined[3].setTheta(-M_PI / 2);
180
181 vpFeatureLine pd[nbline];
182
183 vpFeatureBuilder::create(pd[0], lined[0]);
184 vpFeatureBuilder::create(pd[1], lined[1]);
185 vpFeatureBuilder::create(pd[2], lined[2]);
186 vpFeatureBuilder::create(pd[3], lined[3]);
187
188 vpTRACE("define the task");
189 vpTRACE("\t we want an eye-in-hand control law");
190 vpTRACE("\t robot is controlled in the camera frame");
193
194 vpTRACE("\t we want to see a point on a point..");
195 std::cout << std::endl;
196 for (i = 0; i < nbline; i++)
197 task.addFeature(p[i], pd[i]);
198
199 vpTRACE("\t set the gain");
200 task.setLambda(0.2);
201
202 vpTRACE("Display task information ");
203 task.print();
204
206
207 unsigned int iter = 0;
208 vpTRACE("\t loop");
209 vpColVector v;
211 double lambda_av = 0.05;
212 double alpha = 0.05;
213 double beta = 3;
214
215 for (;;) {
216 std::cout << "---------------------------------------------" << iter << std::endl;
217
218 try {
219 g.acquire(I);
221
222 // Track the lines and update the features
223 for (i = 0; i < nbline; i++) {
224 line[i].track(I);
225 line[i].display(I, vpColor::red);
226
227 vpFeatureBuilder::create(p[i], cam, line[i]);
228
229 p[i].display(cam, I, vpColor::red);
230 pd[i].display(cam, I, vpColor::green);
231 }
232
233 double gain;
234 {
235 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
236 gain = lambda_av;
237 else {
238 gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
239 }
240 }
241
242 task.setLambda(gain);
243
244 v = task.computeControlLaw();
245
247
248 if (iter == 0)
250 if (v.sumSquare() > 0.5) {
251 v = 0;
253 robot.stopMotion();
255 }
256
258
259 } catch (...) {
260 v = 0;
262 robot.stopMotion();
263 exit(1);
264 }
265
266 vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
267 iter++;
268 }
269
270 vpTRACE("Display task information ");
271 task.print();
272 return EXIT_SUCCESS;
273 }
274 catch (const vpException &e) {
275 std::cout << "Test failed with exception: " << e << std::endl;
276 return EXIT_FAILURE;
277 }
278}
279
280#else
281int main()
282{
283 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
284 return EXIT_SUCCESS;
285}
286
287#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
double sumSquare() const
static const vpColor red
Definition: vpColor.h:217
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 bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
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 line visual feature which is composed by two parameters that are and ,...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
void setRho(double rho)
Definition: vpLine.h:157
void setTheta(double theta)
Definition: vpLine.h:167
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
static double rad(double deg)
Definition: vpMath.h:110
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:746
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
void setThreshold(const double &t)
Definition: vpMe.h:300
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
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 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
#define vpTRACE
Definition: vpDebug.h:416