Visual Servoing Platform version 3.5.0
servoAfma6Cylinder2DCamVelocity.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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
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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 * Nicolas Melchior
38 *
39 *****************************************************************************/
40
54#include <cmath> // std::fabs
55#include <limits> // numeric_limits
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/io/vpImageIo.h>
67#include <visp3/sensor/vp1394TwoGrabber.h>
68
69#include <visp3/core/vpCylinder.h>
70#include <visp3/core/vpHomogeneousMatrix.h>
71#include <visp3/core/vpMath.h>
72#include <visp3/me/vpMeLine.h>
73#include <visp3/visual_features/vpFeatureBuilder.h>
74#include <visp3/visual_features/vpFeatureLine.h>
75#include <visp3/vs/vpServo.h>
76
77#include <visp3/robot/vpRobotAfma6.h>
78
79// Exception
80#include <visp3/core/vpException.h>
81#include <visp3/vs/vpServoDisplay.h>
82
83int main()
84{
85 try {
87
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
104
105 vpServo task;
106
107 std::cout << std::endl;
108 std::cout << "-------------------------------------------------------" << std::endl;
109 std::cout << " Test program for vpServo " << std::endl;
110 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
111 std::cout << " Simulation " << std::endl;
112 std::cout << " task : servo a point " << std::endl;
113 std::cout << "-------------------------------------------------------" << std::endl;
114 std::cout << std::endl;
115
116 int i;
117 int nbline = 2;
118 vpMeLine line[nbline];
119
120 vpMe me;
121 me.setRange(10);
122 me.setPointsToTrack(100);
123 me.setThreshold(30000);
124 me.setSampleStep(10);
125
126 // Initialize the tracking of the two edges of the cylinder
127 for (i = 0; i < nbline; i++) {
129 line[i].setMe(&me);
130
131 line[i].initTracking(I);
132 line[i].track(I);
133 }
134
135 vpRobotAfma6 robot;
136 // robot.move("zero.pos") ;
137
139 // Update camera parameters
140 robot.getCameraParameters(cam, I);
141
142 vpTRACE("sets the current position of the visual feature ");
143 vpFeatureLine p[nbline];
144 for (i = 0; i < nbline; i++)
145 vpFeatureBuilder::create(p[i], cam, line[i]);
146
147 vpTRACE("sets the desired position of the visual feature ");
148 vpCylinder cyld(0, 1, 0, 0, 0, 0, 0.04);
149
150 vpHomogeneousMatrix cMo(0, 0, 0.4, 0, 0, vpMath::rad(0));
151
152 cyld.project(cMo);
153
154 vpFeatureLine pd[nbline];
157
158 // Those lines are needed to keep the conventions define in vpMeLine
159 // (Those in vpLine are less restrictive) Another way to have the
160 // coordinates of the desired features is to learn them before executing
161 // the program.
162 pd[0].setRhoTheta(-fabs(pd[0].getRho()), 0);
163 pd[1].setRhoTheta(-fabs(pd[1].getRho()), M_PI);
164
165 vpTRACE("define the task");
166 vpTRACE("\t we want an eye-in-hand control law");
167 vpTRACE("\t robot is controlled in the camera frame");
170
171 vpTRACE("\t we want to see a two lines on two lines..");
172 std::cout << std::endl;
173 for (i = 0; i < nbline; i++)
174 task.addFeature(p[i], pd[i]);
175
176 vpTRACE("\t set the gain");
177 task.setLambda(0.2);
178
179 vpTRACE("Display task information ");
180 task.print();
181
183
184 unsigned int iter = 0;
185 vpTRACE("\t loop");
186 vpColVector v;
188 double lambda_av = 0.05;
189 double alpha = 0.2;
190 double beta = 3;
191 for (;;) {
192 std::cout << "---------------------------------------------" << iter << std::endl;
193
194 try {
195 g.acquire(I);
197
198 // Track the two edges and update the features
199 for (i = 0; i < nbline; i++) {
200 line[i].track(I);
201 line[i].display(I, vpColor::red);
202
203 vpFeatureBuilder::create(p[i], cam, line[i]);
204 vpTRACE("%f %f ", line[i].getRho(), line[i].getTheta());
205
206 p[i].display(cam, I, vpColor::red);
207 pd[i].display(cam, I, vpColor::green);
208 }
209
211
212 // Adaptative gain
213 double gain;
214 {
215 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
216 gain = lambda_av;
217 else {
218 gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
219 }
220 }
221 task.setLambda(gain);
222
223 v = task.computeControlLaw();
224
225 if (iter == 0)
228 } catch (...) {
229 v = 0;
231 robot.stopMotion();
232 exit(1);
233 }
234
235 vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
236 iter++;
237 }
238
239 vpTRACE("Display task information ");
240 task.print();
241 return EXIT_SUCCESS;
242 }
243 catch (const vpException &e) {
244 std::cout << "Test failed with exception: " << e << std::endl;
245 return EXIT_FAILURE;
246 }
247}
248
249#else
250int main()
251{
252 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
253 return EXIT_SUCCESS;
254}
255
256#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
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
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 setRhoTheta(double rho, double theta)
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.
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
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ 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
@ 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
#define vpTRACE
Definition: vpDebug.h:416