Visual Servoing Platform version 3.5.0
servoBiclopsPoint2DArtVelocity.cpp
1/****************************************************************************
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
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 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 articular
35 *
36 * Authors:
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40
59#include <signal.h>
60#include <stdlib.h>
61#include <visp3/core/vpConfig.h>
62#include <visp3/core/vpDebug.h> // Debug trace
63#include <visp3/core/vpTime.h>
64#if (defined(VISP_HAVE_BICLOPS) && (defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_DIRECTSHOW)))
65
66#ifdef VISP_HAVE_PTHREAD
67#include <pthread.h>
68#endif
69
70#include <visp3/core/vpDisplay.h>
71#include <visp3/core/vpImage.h>
72#include <visp3/gui/vpDisplayGDI.h>
73#include <visp3/gui/vpDisplayGTK.h>
74#include <visp3/gui/vpDisplayX.h>
75#include <visp3/sensor/vp1394TwoGrabber.h>
76#include <visp3/sensor/vpDirectShowGrabber.h>
77
78#include <visp3/blob/vpDot.h>
79#include <visp3/core/vpHomogeneousMatrix.h>
80#include <visp3/core/vpIoTools.h>
81#include <visp3/core/vpMath.h>
82#include <visp3/core/vpPoint.h>
83#include <visp3/io/vpParseArgv.h>
84#include <visp3/robot/vpRobotBiclops.h>
85#include <visp3/visual_features/vpFeatureBuilder.h>
86#include <visp3/visual_features/vpFeaturePoint.h>
87#include <visp3/vs/vpServo.h>
88#include <visp3/vs/vpServoDisplay.h>
89
90// Exception
91#include <visp3/core/vpException.h>
92
93#ifdef VISP_HAVE_PTHREAD
94pthread_mutex_t mutexEndLoop = PTHREAD_MUTEX_INITIALIZER;
95#endif
96
97void signalCtrC(int /* signumber */)
98{
99#ifdef VISP_HAVE_PTHREAD
100 pthread_mutex_unlock(&mutexEndLoop);
101#endif
102 vpTime::wait(10);
103 vpTRACE("Ctrl-C pressed...");
104}
105
106// List of allowed command line options
107#define GETOPTARGS "c:d:h"
108
120void usage(const char *name, const char *badparam, std::string &conf, std::string &debugdir, std::string &user)
121{
122 fprintf(stdout, "\n\
123 Example of eye-in-hand control law. We control here a real robot, the biclops\n\
124 robot (pan-tilt head provided by Traclabs). The velocity is\n\
125 computed in articular. The visual feature is the center of gravity of a\n\
126 point.\n\
127\n\
128SYNOPSIS\n\
129 %s [-c <Biclops configuration file>] [-d <debug file directory>] [-h]\n", name);
130
131 fprintf(stdout, "\n\
132OPTIONS: Default\n\
133 -c <Biclops configuration file> %s\n\
134 Sets the biclops robot configuration file.\n\n\
135 -d <debug file directory> %s\n\
136 Sets the debug file directory.\n\
137 From this directory, creates the\"%s\"\n\
138 subdirectory depending on the username, where\n\
139 it writes biclops.txt file.\n", conf.c_str(), debugdir.c_str(), user.c_str());
140
141 if (badparam) {
142 fprintf(stderr, "ERROR: \n");
143 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
144 }
145}
159bool getOptions(int argc, const char **argv, std::string &conf, std::string &debugdir, std::string &user)
160{
161 const char *optarg_;
162 int c;
163 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
164
165 switch (c) {
166 case 'c':
167 conf = optarg_;
168 break;
169 case 'd':
170 debugdir = optarg_;
171 break;
172 case 'h':
173 usage(argv[0], NULL, conf, debugdir, user);
174 return false;
175 break;
176
177 default:
178 usage(argv[0], optarg_, conf, debugdir, user);
179 return false;
180 break;
181 }
182 }
183
184 if ((c == 1) || (c == -1)) {
185 // standalone param or error
186 usage(argv[0], NULL, conf, debugdir, user);
187 std::cerr << "ERROR: " << std::endl;
188 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
189 return false;
190 }
191
192 return true;
193}
194
195int main(int argc, const char **argv)
196{
197 std::cout << std::endl;
198 std::cout << "-------------------------------------------------------" << std::endl;
199 std::cout << " Test program for vpServo " << std::endl;
200 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
201 std::cout << " Simulation " << std::endl;
202 std::cout << " task : servo a point " << std::endl;
203 std::cout << "-------------------------------------------------------" << std::endl;
204 std::cout << std::endl;
205
206 try {
207
208#ifdef VISP_HAVE_PTHREAD
209 pthread_mutex_lock(&mutexEndLoop);
210#endif
211 signal(SIGINT, &signalCtrC);
212
213 // default unix configuration file path
214 std::string opt_conf = "/usr/share/BiclopsDefault.cfg";
215
216 std::string username;
217 std::string debugdir;
218 std::string opt_debugdir;
219
220// Set the default output path
221#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
222 opt_debugdir = "/tmp";
223#elif defined(_WIN32)
224 opt_debugdir = "C:/temp";
225#endif
226
227 // Get the user login name
228 vpIoTools::getUserName(username);
229
230 // Read the command line options
231 if (getOptions(argc, argv, opt_conf, opt_debugdir, username) == false) {
232 exit(-1);
233 }
234
235 // Get the option value
236 if (!opt_debugdir.empty())
237 debugdir = opt_debugdir;
238
239 // Append to the output path string, the login name of the user
240 std::string dirname = debugdir + "/" + username;
241
242 // Test if the output path exist. If no try to create it
243 if (vpIoTools::checkDirectory(dirname) == false) {
244 try {
245 // Create the dirname
247 } catch (...) {
248 usage(argv[0], NULL, opt_conf, debugdir, username);
249 std::cerr << std::endl << "ERROR:" << std::endl;
250 std::cerr << " Cannot create " << dirname << std::endl;
251 std::cerr << " Check your -d " << debugdir << " option " << std::endl;
252 exit(-1);
253 }
254 }
255
256 // Create the debug file: debugdir/$user/biclops.txt
257 char filename[FILENAME_MAX];
258 sprintf(filename, "%s/biclops.txt", debugdir.c_str());
259 FILE *fd = fopen(filename, "w");
260
261 vpRobotBiclops robot(opt_conf.c_str());
262 robot.setDenavitHartenbergModel(vpBiclops::DH2);
263
264 {
265 vpColVector q(2);
266 q = 0;
268 robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
269 }
270
272
273#if defined VISP_HAVE_DC1394
275#elif defined VISP_HAVE_DIRECTSHOW
277#endif
278
279 g.open(I);
280
281 try {
282 g.acquire(I);
283 } catch (...) {
284 vpERROR_TRACE(" Error caught");
285 return (-1);
286 }
287
288// We open a window using either X11 or GTK or GDI.
289// Its size is automatically defined by the image (I) size
290#if defined VISP_HAVE_X11
291 vpDisplayX display(I, 100, 100, "Display X...");
292#elif defined VISP_HAVE_GTK
293 vpDisplayGTK display(I, 100, 100, "Display GTK...");
294#elif defined(_WIN32)
295 vpDisplayGDI display(I, 100, 100, "Display GDI...");
296#endif
297
298 try {
301 } catch (...) {
302 vpERROR_TRACE(" Error caught");
303 return (-1);
304 }
305
306 vpServo task;
307
308 vpDot dot;
309
310 try {
311 std::cout << "Click on a dot to initialize the tracking..." << std::endl;
312 dot.setGraphics(true);
313 dot.initTracking(I);
314 dot.track(I);
315 vpERROR_TRACE("after dot.initTracking(I) ");
316 } catch (...) {
317 vpERROR_TRACE(" Error caught");
318 return (-1);
319 }
320
322
323 // sets the current position of the visual feature
325 vpFeatureBuilder::create(p, cam, dot); // retrieve x,y and Z of the vpPoint structure
326
327 p.set_Z(1);
328 // sets the desired position of the visual feature
330 pd.buildFrom(0, 0, 1);
331
332 // define the task
333 // - we want an eye-in-hand control law
334 // - articular velocity are computed
337
338 vpTRACE("Set the position of the end-effector frame in the camera frame");
340 // robot.get_cMe(cMe) ;
341
343 robot.get_cVe(cVe);
344 std::cout << cVe << std::endl;
345 task.set_cVe(cVe);
346
347 std::cout << "Click in the image to start the servoing..." << std::endl;
349
350 // Set the Jacobian (expressed in the end-effector frame)
351 vpMatrix eJe;
352 robot.get_eJe(eJe);
353 task.set_eJe(eJe);
354
355 // we want to see a point on a point
356 task.addFeature(p, pd);
357
358 // set the gain
359 task.setLambda(0.2);
360
361 // Display task information
362 task.print();
363
365
366 unsigned int iter = 0;
367 vpTRACE("\t loop");
368#ifdef VISP_HAVE_PTHREAD
369 while (0 != pthread_mutex_trylock(&mutexEndLoop))
370#else
371 for (;;)
372#endif
373 {
374 std::cout << "---------------------------------------------" << iter << std::endl;
375
376 g.acquire(I);
378
379 dot.track(I);
380
381 // vpDisplay::displayCross(I,(int)dot.I(), (int)dot.J(),
382 // 10,vpColor::green) ;
383
384 vpFeatureBuilder::create(p, cam, dot);
385
386 // get the jacobian
387 robot.get_eJe(eJe);
388 task.set_eJe(eJe);
389
390 // std::cout << (vpMatrix)cVe*eJe << std::endl ;
391
392 vpColVector v;
393 v = task.computeControlLaw();
394
395 vpServoDisplay::display(task, cam, I);
397
398 std::cout << "v: " << v.t();
400
401 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
402
403 {
404 vpColVector s_minus_sStar(2);
405 s_minus_sStar = task.s - task.sStar;
406 fprintf(fd, "%f %f %f %f %f\n", v[0], v[1], s_minus_sStar[0], s_minus_sStar[1], (task.getError()).sumSquare());
407 }
408 }
409
410 std::cout << "Display task information " << std::endl;
411 task.print();
412
413 fclose(fd);
414
415 return EXIT_SUCCESS;
416 }
417 catch (const vpException &e) {
418 std::cout << "Catch an exception: " << e.getMessage() << std::endl;
419 return EXIT_FAILURE;
420 }
421}
422
423#else
424int main()
425{
426 std::cout << "You do not have an biclops PT robot connected to your computer..." << std::endl;
427 return EXIT_SUCCESS;
428}
429#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
class for windows direct show devices
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:635
void setGraphics(bool activate)
Definition: vpDot.h:361
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:770
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:90
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.
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string getUserName()
Definition: vpIoTools.cpp:316
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Interface for the biclops, pan, tilt head control.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:67
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
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:567
@ EYEINHAND_L_cVe_eJe
Definition: vpServo.h:159
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:306
void setLambda(double c)
Definition: vpServo.h:404
void set_eJe(const vpMatrix &eJe_)
Definition: vpServo.h:506
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector sStar
Definition: vpServo.h:562
vpColVector s
Definition: vpServo.h:558
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
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:82
#define vpTRACE
Definition: vpDebug.h:416
#define vpERROR_TRACE
Definition: vpDebug.h:393
VISP_EXPORT int wait(double t0, double t)