Visual Servoing Platform version 3.6.0
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servoAfma4Point2DArtVelocity.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
37
58#include <fstream>
59#include <iostream>
60#include <sstream>
61#include <stdio.h>
62#include <stdlib.h>
63#include <visp3/core/vpConfig.h>
64#include <visp3/core/vpDebug.h> // Debug trace
65#if (defined(VISP_HAVE_AFMA4) && defined(VISP_HAVE_DC1394))
66
67#include <visp3/core/vpDisplay.h>
68#include <visp3/core/vpImage.h>
69#include <visp3/core/vpImagePoint.h>
70#include <visp3/gui/vpDisplayGTK.h>
71#include <visp3/gui/vpDisplayOpenCV.h>
72#include <visp3/gui/vpDisplayX.h>
73#include <visp3/sensor/vp1394TwoGrabber.h>
74
75#include <visp3/core/vpHomogeneousMatrix.h>
76#include <visp3/core/vpIoTools.h>
77#include <visp3/core/vpMath.h>
78#include <visp3/core/vpPoint.h>
79#include <visp3/robot/vpRobotAfma4.h>
80#include <visp3/visual_features/vpFeatureBuilder.h>
81#include <visp3/visual_features/vpFeaturePoint.h>
82#include <visp3/vs/vpServo.h>
83
84// Exception
85#include <visp3/core/vpException.h>
86#include <visp3/vs/vpServoDisplay.h>
87
88#include <visp3/blob/vpDot.h>
89
90int main()
91{
92 try {
93 // Log file creation in /tmp/$USERNAME/log.dat
94 // This file contains by line:
95 // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
96 // - the 6 mesured joint velocities (m/s, rad/s)
97 // - the 6 mesured joint positions (m, rad)
98 // - the 2 values of s - s*
99 std::string username;
100 // Get the user login name
101 vpIoTools::getUserName(username);
102
103 // Create a log filename to save velocities...
104 std::string logdirname;
105 logdirname = "/tmp/" + username;
106
107 // Test if the output path exist. If no try to create it
108 if (vpIoTools::checkDirectory(logdirname) == false) {
109 try {
110 // Create the dirname
111 vpIoTools::makeDirectory(logdirname);
112 } catch (...) {
113 std::cerr << std::endl << "ERROR:" << std::endl;
114 std::cerr << " Cannot create " << logdirname << std::endl;
115 return EXIT_FAILURE;
116 }
117 }
118 std::string logfilename;
119 logfilename = logdirname + "/log.dat";
120
121 // Open the log file name
122 std::ofstream flog(logfilename.c_str());
123
124 // vpRobotAfma4 robot ;
125 vpRobotAfma4 robot;
126
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(HAVE_OPENCV_HIGHGUI)
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 Afma4 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
161 std::cout << "Click on a dot..." << std::endl;
162 dot.initTracking(I);
163
164 vpImagePoint cog = dot.getCog();
165
168
170 // Update camera parameters
171 // robot.getCameraParameters (cam, I);
172
173 vpTRACE("sets the current position of the visual feature ");
175 vpFeatureBuilder::create(p, cam, dot); // retrieve x,y and Z of the vpPoint structure
176
177 p.set_Z(1);
178 vpTRACE("sets the desired position of the visual feature ");
180 pd.buildFrom(0, 0, 1);
181
182 vpTRACE("define the task");
183 vpTRACE("\t we want an eye-in-hand control law");
184 vpTRACE("\t articular velocity are computed");
187
188 vpTRACE("Set the position of the end-effector frame in the camera frame");
190 // robot.get_cMe(cMe) ;
191
193 robot.get_cVe(cVe);
194 std::cout << cVe << std::endl;
195 task.set_cVe(cVe);
196
197 // vpDisplay::getClick(I) ;
198 vpTRACE("Set the Jacobian (expressed in the end-effector frame)");
199 vpMatrix eJe;
200 robot.get_eJe(eJe);
201 task.set_eJe(eJe);
202
203 vpTRACE("\t we want to see a point on a point..");
204 std::cout << std::endl;
205 task.addFeature(p, pd);
206
207 vpTRACE("\t set the gain");
208 task.setLambda(0.8);
209
210 vpTRACE("Display task information ");
211 task.print();
212
214
215 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
216 for (;;) {
217 // Acquire a new image from the camera
218 g.acquire(I);
219
220 // Display this image
222
223 // Achieve the tracking of the dot in the image
224 dot.track(I);
225
226 // Get the cog of the dot
227 cog = dot.getCog();
228
229 // Display a green cross at the center of gravity position in the image
231
232 // Update the point feature from the dot location
233 vpFeatureBuilder::create(p, cam, dot);
234
235 // Get the jacobian of the robot
236 robot.get_eJe(eJe);
237 // Update this jacobian in the task structure. It will be used to
238 // compute the velocity skew (as an articular velocity) qdot = -lambda *
239 // L^+ * cVe * eJe * (s-s*)
240 task.set_eJe(eJe);
241
242 // std::cout << (vpMatrix)cVe*eJe << std::endl ;
243
244 vpColVector v;
245 // Compute the visual servoing skew vector
246 v = task.computeControlLaw();
247
248 // Display the current and desired feature points in the image display
249 vpServoDisplay::display(task, cam, I);
250
251 // Apply the computed joint velocities to the robot
253
254 // Save velocities applied to the robot in the log file
255 // v[0], v[1], v[2] correspond to joint translation velocities in m/s
256 // v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
257 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
258
259 // Get the measured joint velocities of the robot
260 vpColVector qvel;
262 // Save measured joint velocities of the robot in the log file:
263 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
264 // velocities in m/s
265 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
266 // velocities in rad/s
267 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
268
269 // Get the measured joint positions of the robot
270 vpColVector q;
271 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
272 // Save measured joint positions of the robot in the log file
273 // - q[0], q[1], q[2] correspond to measured joint translation
274 // positions in m
275 // - q[3], q[4], q[5] correspond to measured joint rotation
276 // positions in rad
277 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
278
279 // Save feature error (s-s*) for the feature point. For this feature
280 // point, we have 2 errors (along x and y axis). This error is
281 // expressed in meters in the camera frame
282 flog << task.getError() << std::endl;
284
285 // vpTRACE("\t\t || s - s* || = %f ", ( task.getError()
286 // ).sumSquare()) ;
287 }
288
289 flog.close(); // Close the log file
290
291 vpTRACE("Display task information ");
292 task.print();
293 return EXIT_SUCCESS;
294 } catch (const vpException &e) {
295 std::cout << "Catch a ViSP exception: " << e << std::endl;
296 return EXIT_FAILURE;
297 }
298}
299
300#else
301int main()
302{
303 std::cout << "You do not have an afma4 robot connected to your computer..." << std::endl;
304 return EXIT_SUCCESS;
305}
306#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.
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
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...
Definition vpDisplayX.h:132
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:112
void initTracking(const vpImage< unsigned char > &I)
Definition vpDot.cpp:617
vpImagePoint getCog() const
Definition vpDot.h:243
void track(const vpImage< unsigned char > &I)
Definition vpDot.cpp:757
error that can be emitted by ViSP classes.
Definition vpException.h:59
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 of the vpImage class member functions.
Definition vpImage.h:135
static bool checkDirectory(const std::string &dirname)
static std::string getUserName()
static void makeDirectory(const std::string &dirname)
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Control of Irisa's cylindrical robot named Afma4.
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:76
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
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:564
@ EYEINHAND_L_cVe_eJe
Definition vpServo.h:155
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:299
void setLambda(double c)
Definition vpServo.h:403
void set_eJe(const vpMatrix &eJe_)
Definition vpServo.h:506
void setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
vpColVector getError() const
Definition vpServo.h:276
@ PSEUDO_INVERSE
Definition vpServo.h:199
vpColVector computeControlLaw()
Definition vpServo.cpp:930
@ DESIRED
Definition vpServo.h:183
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487
vpVelocityTwistMatrix get_cVe() const
Definition vpUnicycle.h:79
#define vpTRACE
Definition vpDebug.h:411