51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpDebug.h>
60 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394_2) && defined(VISP_HAVE_DISPLAY))
62 #include <visp3/blob/vpDot2.h>
63 #include <visp3/core/vpDisplay.h>
64 #include <visp3/core/vpException.h>
65 #include <visp3/core/vpHomogeneousMatrix.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpIoTools.h>
68 #include <visp3/core/vpMath.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/gui/vpDisplayGTK.h>
71 #include <visp3/gui/vpDisplayOpenCV.h>
72 #include <visp3/gui/vpDisplayX.h>
73 #include <visp3/gui/vpPlot.h>
74 #include <visp3/robot/vpRobotViper850.h>
75 #include <visp3/sensor/vp1394TwoGrabber.h>
76 #include <visp3/visual_features/vpFeatureBuilder.h>
77 #include <visp3/visual_features/vpFeaturePoint.h>
78 #include <visp3/vs/vpServo.h>
79 #include <visp3/vs/vpServoDisplay.h>
99 vpDisplayX display(I, 800, 100,
"Current image");
100 #elif defined(VISP_HAVE_OPENCV)
102 #elif defined(VISP_HAVE_GTK)
110 jointMin = robot.getJointMin();
111 jointMax = robot.getJointMax();
116 Qmiddle = (jointMin + jointMax) / 2.;
131 plot.initGraph(0, 12);
133 plot.initGraph(1, 6);
138 plot.initRange(0, 0., 200., -1.2, 1.2);
139 plot.setTitle(0,
"Joint behavior");
142 plot.setTitle(1,
"Q secondary task");
146 for (
unsigned int i = 0; i < 6; i++) {
147 sprintf(legend,
"q%u", i + 1);
148 plot.setLegend(0, i, legend);
149 plot.setLegend(1, i, legend);
151 plot.setLegend(0, 6,
"Low Limit");
152 plot.setLegend(0, 7,
"Upper Limit");
153 plot.setLegend(0, 8,
"ql0 min");
154 plot.setLegend(0, 9,
"ql0 max");
155 plot.setLegend(0, 10,
"ql1 min");
156 plot.setLegend(0, 11,
"ql1 max");
163 plot.setColor(0, 4,
vpColor(0, 128, 0));
165 for (
unsigned int i = 6; i < 12; i++)
172 std::cout <<
"Click on a dot..." << std::endl;
180 robot.getCameraParameters(cam, I);
199 std::cout << cVe << std::endl;
208 std::cout << std::endl;
220 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
257 v = prim_task + sec_task;
269 for (
unsigned int i = 0; i < 6; i++) {
270 data[i] = (q[i] - Qmiddle[i]);
271 data[i] /= (jointMax[i] - jointMin[i]);
278 unsigned int joint = 2;
279 double tQmin_l0 = jointMin[joint] + rho * (jointMax[joint] - jointMin[joint]);
280 double tQmax_l0 = jointMax[joint] - rho * (jointMax[joint] - jointMin[joint]);
282 double tQmin_l1 = tQmin_l0 - rho * rho1 * (jointMax[joint] - jointMin[joint]);
283 double tQmax_l1 = tQmax_l0 + rho * rho1 * (jointMax[joint] - jointMin[joint]);
285 data[8] = 2 * (tQmin_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
286 data[9] = 2 * (tQmax_l0 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
287 data[10] = 2 * (tQmin_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
288 data[11] = 2 * (tQmax_l1 - Qmiddle[joint]) / (jointMax[joint] - jointMin[joint]);
289 plot.plot(0, iter, data);
291 plot.plot(1, iter, sec_task);
302 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
310 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
@ vpVIDEO_MODE_640x480_MONO8
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionnalities.
static const vpColor black
static const vpColor cyan
static const vpColor orange
static const vpColor blue
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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...
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emited by ViSP classes.
const char * getMessage() const
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)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
vpColVector secondaryTaskJointLimitAvoidance(const vpColVector &q, const vpColVector &dq, const vpColVector &jointMin, const vpColVector &jointMax, const double &rho=0.1, const double &rho1=0.3, const double &lambda_tune=0.7)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
vpVelocityTwistMatrix get_cVe() const