Visual Servoing Platform  version 3.5.0
servoAfma6Line2DCamVelocity.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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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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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 
82 int 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 
104  vpDisplay::flush(I);
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 
135  vpCameraParameters cam;
136  // Update camera parameters
137  robot.getCameraParameters(cam, I);
138 
139  vpTRACE("sets the current position of the visual feature ");
140  vpFeatureLine p;
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 
194  vpDisplay::flush(I);
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
219 int 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