 |
Visual Servoing Platform
version 3.3.0
|
51 #include <visp3/core/vpMatrix.h>
52 #include <visp3/core/vpVelocityTwistMatrix.h>
53 #include <visp3/visual_features/vpBasicFeature.h>
54 #include <visp3/vs/vpAdaptiveGain.h>
55 #include <visp3/vs/vpServoException.h>
173 EYETOHAND_L_cVf_fVe_eJe,
201 } vpServoIteractionMatrixType;
208 } vpServoInversionType;
248 explicit vpServo(vpServoType servoType);
267 vpMatrix computeInteractionMatrix();
270 unsigned int getDimension()
const;
309 vpMatrix getTaskJacobianPseudoInverse()
const;
310 unsigned int getTaskRank()
const;
357 const bool &useLargeProjectionOperator =
false);
360 const vpColVector &jointMax,
const double &rho = 0.1,
361 const double &rho1 = 0.3,
const double &lambda_tune = 0.7)
const;
383 this->forceInteractionMatrixComputation = force_computation;
393 void setInteractionMatrixType(
const vpServoIteractionMatrixType &interactionMatrixType,
394 const vpServoInversionType &interactionMatrixInversion = PSEUDO_INVERSE);
406 void setLambda(
double c) { lambda.initFromConstant(c); }
423 void setLambda(
double gain_at_zero,
double gain_at_infinity,
double slope_at_zero)
425 lambda.initStandard(gain_at_zero, gain_at_infinity, slope_at_zero);
442 void setMu(
double mu_) { this->mu = mu_; }
444 void setServo(
const vpServoType &servo_type);
527 bool testInitialization();
540 void computeProjectionOperators();
unsigned int rankJ1
Rank of the task Jacobian.
vpServoInversionType inversionType
bool taskWasKilled
Flag to indicate if the task was killed.
vpMatrix J1p
Pseudo inverse of the task Jacobian.
vpServoIteractionMatrixType interactionMatrixType
Type of the interaction matrox (current, mean, desired, user)
vpMatrix L
Interaction matrix.
unsigned int dim_task
Dimension of the task updated during computeControlLaw().
vpMatrix J1
Task Jacobian .
void set_eJe(const vpMatrix &eJe_)
vpVelocityTwistMatrix get_cVe() const
std::list< vpBasicFeature * > featureList
List of current visual features .
vpMatrix WpW
Projection operators .
vpVelocityTwistMatrix cVf
Twist transformation matrix between Rf and Rc.
vpMatrix getInteractionMatrix() const
vpMatrix eJe
Jacobian expressed in the end-effector frame.
vpAdaptiveGain lambda
Gain used in the control law.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void set_cVe(const vpHomogeneousMatrix &cMe)
vpVelocityTwistMatrix cVe
Twist transformation matrix between Re and Rc.
Implementation of column vector and the associated operations.
vpColVector v
Camera velocity.
void setLambda(const vpAdaptiveGain &l)
Implementation of a matrix and operations on matrices.
std::list< vpBasicFeature * > desiredFeatureList
List of desired visual features .
void set_fJe(const vpMatrix &fJe_)
vpServoType servoType
Chosen visual servoing control law.
bool iscJcIdentity
Boolean to know if cJc is identity (for fast computation)
vpColVector sv
Singular values from the pseudo inverse.
bool interactionMatrixComputed
true if the interaction matrix has been computed.
vpColVector q_dot
Articular velocity.
bool forceInteractionMatrixComputation
Force the interaction matrix computation even if it is already done.
vpVelocityTwistMatrix fVe
Twist transformation matrix between Re and Rf.
vpColVector getTaskSingularValues() const
Adaptive gain computation.
void set_cVf(const vpVelocityTwistMatrix &cVf_)
vpVelocityTwistMatrix get_fVe() const
vpColVector getError() const
void setLambda(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
vpMatrix fJe
Jacobian expressed in the robot reference frame.
vpVelocityTwistMatrix get_cVf() const
void set_cVf(const vpHomogeneousMatrix &cMf)
void setForceInteractionMatrixComputation(bool force_computation)
void set_fVe(const vpVelocityTwistMatrix &fVe_)
void set_fVe(const vpHomogeneousMatrix &fMe)
std::list< unsigned int > featureSelectionList
vpServoIteractionMatrixType
int signInteractionMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpColVector e1
Primary task .
class that defines what is a visual feature
bool errorComputed
true if the error has been computed.
vpMatrix I_WpW
Projection operators .
vpServoType getServoType() const