Visual Servoing Platform version 3.5.0
servoAfma6Line2DCamVelocity.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 the camera frame
35 *
36 * Authors:
37 * Eric Marchand
38 *
39 *****************************************************************************/
56#include <stdlib.h>
57#include <visp3/core/vpConfig.h>
58#include <visp3/core/vpDebug.h> // Debug trace
59#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
60
61#include <visp3/core/vpDisplay.h>
62#include <visp3/core/vpImage.h>
63#include <visp3/gui/vpDisplayGTK.h>
64#include <visp3/gui/vpDisplayOpenCV.h>
65#include <visp3/gui/vpDisplayX.h>
66#include <visp3/sensor/vp1394TwoGrabber.h>
67
68#include <visp3/core/vpHomogeneousMatrix.h>
69#include <visp3/core/vpLine.h>
70#include <visp3/core/vpMath.h>
71#include <visp3/me/vpMeLine.h>
72#include <visp3/visual_features/vpFeatureBuilder.h>
73#include <visp3/visual_features/vpFeatureLine.h>
74#include <visp3/vs/vpServo.h>
75
76#include <visp3/robot/vpRobotAfma6.h>
77
78// Exception
79#include <visp3/core/vpException.h>
80#include <visp3/vs/vpServoDisplay.h>
81
82int main()
83{
84 try {
86
90
91 g.open(I);
92
93 g.acquire(I);
94
95#ifdef VISP_HAVE_X11
96 vpDisplayX display(I, 100, 100, "Current image");
97#elif defined(VISP_HAVE_OPENCV)
98 vpDisplayOpenCV display(I, 100, 100, "Current image");
99#elif defined(VISP_HAVE_GTK)
100 vpDisplayGTK display(I, 100, 100, "Current image");
101#endif
102
105
106 vpServo task;
107
108 std::cout << std::endl;
109 std::cout << "-------------------------------------------------------" << std::endl;
110 std::cout << " Test program for vpServo " << std::endl;
111 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
112 std::cout << " Simulation " << std::endl;
113 std::cout << " task : servo a line " << std::endl;
114 std::cout << "-------------------------------------------------------" << std::endl;
115 std::cout << std::endl;
116
117 vpMeLine line;
118
119 vpMe me;
120 me.setRange(10);
121 me.setPointsToTrack(100);
122 me.setThreshold(100000);
123 me.setSampleStep(10);
125
126 line.setMe(&me);
127
128 // Initialize the tracking. Define the line to track.
129 line.initTracking(I);
130 line.track(I);
131
132 vpRobotAfma6 robot;
133 // robot.move("pos-init.pos") ;
134
136 // Update camera parameters
137 robot.getCameraParameters(cam, I);
138
139 vpTRACE("sets the current position of the visual feature ");
141 vpFeatureBuilder::create(p, cam, line);
142
143 vpTRACE("sets the desired position of the visual feature ");
144 vpLine lined;
145 lined.setWorldCoordinates(1, 0, 0, 0, 0, 0, 1, 0);
146 vpHomogeneousMatrix cMo(0, 0, 0.3, 0, 0, vpMath::rad(0));
147 lined.project(cMo);
148 lined.setRho(-fabs(lined.getRho()));
149 lined.setTheta(0);
150
151 vpFeatureLine pd;
152 vpFeatureBuilder::create(pd, lined);
153
154 vpTRACE("define the task");
155 vpTRACE("\t we want an eye-in-hand control law");
156 vpTRACE("\t robot is controlled in the camera frame");
158
159 vpTRACE("\t we want to see a point on a point..");
160 std::cout << std::endl;
161 task.addFeature(p, pd);
162
163 vpTRACE("\t set the gain");
164 task.setLambda(0.2);
165
166 vpTRACE("Display task information ");
167 task.print();
168
170
171 unsigned int iter = 0;
172 vpTRACE("\t loop");
173 vpColVector v;
174 for (;;) {
175 std::cout << "---------------------------------------------" << iter << std::endl;
176
177 try {
178 g.acquire(I);
180
181 // Track the line
182 line.track(I);
183 line.display(I, vpColor::red);
184
185 // Update the current line feature
186 vpFeatureBuilder::create(p, cam, line);
187
188 // displqy the current and the desired features
189 p.display(cam, I, vpColor::red);
190 pd.display(cam, I, vpColor::green);
191
192 v = task.computeControlLaw();
193
195 if (iter == 0)
198 } catch (...) {
199 v = 0;
201 robot.stopMotion();
202 exit(1);
203 }
204
205 vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
206 iter++;
207 }
208
209 vpTRACE("Display task information ");
210 task.print();
211 return EXIT_SUCCESS;
212 } catch (const vpException &e) {
213 std::cout << "Test failed with exception: " << e << std::endl;
214 return EXIT_FAILURE;
215 }
216}
217
218#else
219int main()
220{
221 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
222 return EXIT_SUCCESS;
223}
224
225#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.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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: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)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
double getRho() const
Definition: vpLine.h:134
void setRho(double rho)
Definition: vpLine.h:157
void setTheta(double theta)
Definition: vpLine.h:167
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
static double rad(double deg)
Definition: vpMath.h:110
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:746
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
void setThreshold(const double &t)
Definition: vpMe.h:300
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
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 setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
#define vpTRACE
Definition: vpDebug.h:416