49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpDebug.h>
58 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
60 #include <visp3/sensor/vp1394TwoGrabber.h>
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/gui/vpDisplayX.h>
64 #include <visp3/gui/vpDisplayOpenCV.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/visual_features/vpFeaturePoint.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/vs/vpServo.h>
71 #include <visp3/visual_features/vpFeatureBuilder.h>
72 #include <visp3/robot/vpRobotViper850.h>
73 #include <visp3/core/vpIoTools.h>
74 #include <visp3/core/vpException.h>
75 #include <visp3/vs/vpServoDisplay.h>
76 #include <visp3/blob/vpDot2.h>
77 #include <visp3/gui/vpPlot.h>
99 vpDisplayX display(I,800,100,
"Current image") ;
100 #elif defined(VISP_HAVE_OPENCV)
102 #elif defined(VISP_HAVE_GTK)
119 for (
unsigned int i=0 ; i < 6 ; i++)
121 Qmin[i] = jointMin[i] + 0.5*rho*(jointMax[i]-jointMin[i]) ;
122 Qmax[i] = jointMax[i] - 0.5*rho*(jointMax[i]-jointMin[i]) ;
124 Qmiddle = (Qmin + Qmax) /2.;
127 for (
unsigned int i=0 ; i < 6 ; i++) {
128 tQmin[i]=Qmin[i]+ 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
129 tQmax[i]=Qmax[i]- 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
141 plot.initGraph(0, 10);
143 plot.initGraph(1, 1);
149 plot.initRange(0, 0., 200., -1.2, 1.2);
150 plot.setTitle(0,
"Joint behavior");
157 plot.initRange(1, 0., 200., 0., 1e-4);
158 plot.setTitle(1,
"Cost function");
162 for (
unsigned int i=0; i < 6; i++) {
163 sprintf(legend,
"q%d", i+1);
164 plot.setLegend(0, i, legend);
166 plot.setLegend(0, 6,
"tQmin");
167 plot.setLegend(0, 7,
"tQmax");
168 plot.setLegend(0, 8,
"Qmin");
169 plot.setLegend(0, 9,
"Qmax");
176 plot.setColor(0, 4,
vpColor(0, 128, 0));
178 for (
unsigned int i= 6; i < 10; i++)
182 plot.setLegend(1, 0,
"h_s");
187 std::cout <<
" Give the parameters beta (1) : ";
192 std::cout <<
"Click on a dot..." << std::endl;
219 std::cout << cVe <<std::endl ;
228 std::cout << std::endl ;
240 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
282 for (
unsigned int i=0 ; i < 6 ; i++)
285 if (q[i] > tQmax[i]) S = q[i] - tQmax[i] ;
286 if (q[i] < tQmin[i]) S = q[i] - tQmin[i] ;
287 double D = (Qmax[i]-Qmin[i]) ;
294 std::cout <<
"Cost function h_s: " << h_s << std::endl;
300 v = prim_task + sec_task;
312 for (
unsigned int i=0 ; i < 6 ; i++) {
313 data[i] = (q[i] - Qmiddle[i]) ;
314 data[i] /= (Qmax[i] - Qmin[i]) ;
317 unsigned int joint = 2;
318 data[6] = 2*(tQmin[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
319 data[7] = 2*(tQmax[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
320 data[8] = -1 ; data[9] = 1 ;
321 plot.plot(0, iter, data);
322 plot.plot(1, 0, iter, h_s);
335 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
344 vpERROR_TRACE(
"You do not have an Viper 850 robot or a firewire framegrabber connected to your computer...");
const char * getMessage(void)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
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)
error that can be emited by ViSP classes.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
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)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
static const vpColor orange
vpImagePoint getCog() const
Initialize the velocity controller.
static const vpColor cyan
vpColVector computeControlLaw()
static double sqr(double x)
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
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