50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpDebug.h>
61 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
63 #include <visp3/sensor/vp1394TwoGrabber.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/gui/vpDisplayX.h>
67 #include <visp3/gui/vpDisplayOpenCV.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/core/vpMath.h>
70 #include <visp3/core/vpHomogeneousMatrix.h>
71 #include <visp3/visual_features/vpFeaturePoint.h>
72 #include <visp3/core/vpPoint.h>
73 #include <visp3/vs/vpServo.h>
74 #include <visp3/visual_features/vpFeatureBuilder.h>
75 #include <visp3/robot/vpRobotViper850.h>
76 #include <visp3/core/vpIoTools.h>
77 #include <visp3/core/vpException.h>
78 #include <visp3/vs/vpServoDisplay.h>
79 #include <visp3/blob/vpDot2.h>
80 #include <visp3/gui/vpPlot.h>
101 double Tloop = 1./60.f;
112 std::cout <<
"Tloop: " << Tloop << std::endl;
115 vpDisplayX display(I,800,100,
"Current image") ;
116 #elif defined(VISP_HAVE_OPENCV)
118 #elif defined(VISP_HAVE_GTK)
135 for (
unsigned int i=0 ; i < 6 ; i++)
137 Qmin[i] = jointMin[i] + 0.5*rho*(jointMax[i]-jointMin[i]) ;
138 Qmax[i] = jointMax[i] - 0.5*rho*(jointMax[i]-jointMin[i]) ;
140 Qmiddle = (Qmin + Qmax) /2.;
143 for (
unsigned int i=0 ; i < 6 ; i++) {
144 tQmin[i]=Qmin[i]+ 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
145 tQmax[i]=Qmax[i]- 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
157 plot.initGraph(0, 10);
158 plot.initGraph(1, 6);
165 plot.initRange(0,0,200,1,-1.2,1.2,0.1);
166 plot.setTitle(0,
"Joint behavior");
167 plot.initRange(1,0,200,1,-0.01,0.01,0.05);
168 plot.setTitle(1,
"Joint velocity");
172 for (
unsigned int i=0; i < 6; i++) {
173 sprintf(legend,
"q%d", i+1);
174 plot.setLegend(0, i, legend);
175 sprintf(legend,
"q%d", i+1);
176 plot.setLegend(1, i, legend);
178 plot.setLegend(0, 6,
"tQmin");
179 plot.setLegend(0, 7,
"tQmax");
180 plot.setLegend(0, 8,
"Qmin");
181 plot.setLegend(0, 9,
"Qmax");
188 plot.setColor(0, 4,
vpColor(0, 128, 0));
190 for (
unsigned int i= 6; i < 10; i++)
198 plot.setColor(1, 4,
vpColor(0, 128, 0));
203 std::cout <<
"Click on a dot..." << std::endl;
230 std::cout << cVe <<std::endl ;
239 std::cout << std::endl ;
254 dc1394video_frame_t *frame = NULL;
256 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
263 Tv = (double)(t_0 - t_1) / 1000.0;
264 std::cout <<
"Tv: " << Tv << std::endl;
270 frame = g.dequeue(I);
303 qpre += -lambda*prim_task*(4*Tloop) ;
307 unsigned int npb =0 ;
308 for (
unsigned int i=0 ; i < 6 ;i++) {
310 if (fabs(Qmin[i]-q[i]) > fabs(Qmin[i]-qpre[i])) {
312 std::cout <<
"Joint " << i <<
" near limit " << std::endl ;
315 if (fabs(Qmax[i]-q[i]) > fabs(Qmax[i]-qpre[i])) {
317 std::cout <<
"Joint " << i <<
" near limit " << std::endl ;
327 unsigned int dimKernelL = kernelJ1.
getCols() ;
335 for (
unsigned int j=0 ; j < 6 ; j++)
337 if (std::fabs(pb[j]-1) <= std::numeric_limits<double>::epsilon()) {
338 for (
unsigned int i=0 ; i < dimKernelL ; i++)
339 E[k][i] = kernelJ1[j][i] ;
341 S[k] = -prim_task[j] ;
346 Ep = E.
t()*(E*E.t()).pseudoInverse() ;
358 v = -lambda * (prim_task + e2);
370 for (
unsigned int i=0 ; i < 6 ; i++) {
371 data[i] = (q[i] - Qmiddle[i]) ;
372 data[i] /= (Qmax[i] - Qmin[i]) ;
375 unsigned int joint = 2;
376 data[6] = 2*(tQmin[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
377 data[7] = 2*(tQmax[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
378 data[8] = -1 ; data[9] = 1 ;
380 plot.plot(0, iter, data);
381 plot.plot(1, iter, v);
409 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
VISP_EXPORT int wait(double t0, double t)
unsigned int kernel(vpMatrix &KerA, double svThreshold=1e-6) const
vpMatrix getTaskJacobian() const
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Control of Irisa's Viper S850 robot named Viper850.
static const vpColor black
Class to define colors available for display functionnalities.
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
unsigned int getCols() const
Return the number of columns of the 2D array.
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static const vpColor orange
vpImagePoint getCog() const
Initialize the velocity controller.
static const vpColor cyan
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
vpColVector getJointMin() const
VISP_EXPORT double measureTimeMs()
void get_cVe(vpVelocityTwistMatrix &cVe) const
vpColVector getJointMax() const
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
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)
static const vpColor blue