50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpDebug.h>
59 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_DISPLAY))
61 #include <visp3/blob/vpDot2.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/core/vpException.h>
64 #include <visp3/core/vpHomogeneousMatrix.h>
65 #include <visp3/core/vpImage.h>
66 #include <visp3/core/vpIoTools.h>
67 #include <visp3/core/vpMath.h>
68 #include <visp3/core/vpPoint.h>
69 #include <visp3/gui/vpDisplayGTK.h>
70 #include <visp3/gui/vpDisplayOpenCV.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/gui/vpPlot.h>
73 #include <visp3/robot/vpRobotViper850.h>
74 #include <visp3/sensor/vp1394TwoGrabber.h>
75 #include <visp3/visual_features/vpFeatureBuilder.h>
76 #include <visp3/visual_features/vpFeaturePoint.h>
77 #include <visp3/vs/vpServo.h>
78 #include <visp3/vs/vpServoDisplay.h>
98 vpDisplayX display(I, 800, 100,
"Current image");
99 #elif defined(VISP_HAVE_OPENCV)
101 #elif defined(VISP_HAVE_GTK)
109 jointMin = robot.getJointMin();
110 jointMax = robot.getJointMax();
118 for (
unsigned int i = 0; i < 6; i++) {
119 Qmin[i] = jointMin[i] + 0.5 * rho * (jointMax[i] - jointMin[i]);
120 Qmax[i] = jointMax[i] - 0.5 * rho * (jointMax[i] - jointMin[i]);
122 Qmiddle = (Qmin + Qmax) / 2.;
125 for (
unsigned int i = 0; i < 6; i++) {
126 tQmin[i] = Qmin[i] + 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
127 tQmax[i] = Qmax[i] - 0.5 * (rho1) * (Qmax[i] - Qmin[i]);
139 plot.initGraph(0, 10);
141 plot.initGraph(1, 1);
146 plot.initRange(0, 0., 200., -1.2, 1.2);
147 plot.setTitle(0,
"Joint behavior");
154 plot.initRange(1, 0., 200., 0., 1e-4);
155 plot.setTitle(1,
"Cost function");
159 for (
unsigned int i = 0; i < 6; i++) {
160 sprintf(legend,
"q%u", i + 1);
161 plot.setLegend(0, i, legend);
163 plot.setLegend(0, 6,
"tQmin");
164 plot.setLegend(0, 7,
"tQmax");
165 plot.setLegend(0, 8,
"Qmin");
166 plot.setLegend(0, 9,
"Qmax");
173 plot.setColor(0, 4,
vpColor(0, 128, 0));
175 for (
unsigned int i = 6; i < 10; i++)
179 plot.setLegend(1, 0,
"h_s");
184 std::cout <<
" Give the parameters beta (1) : ";
189 std::cout <<
"Click on a dot..." << std::endl;
197 robot.getCameraParameters(cam, I);
216 std::cout << cVe << std::endl;
225 std::cout << std::endl;
237 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
279 for (
unsigned int i = 0; i < 6; i++) {
285 double D = (Qmax[i] - Qmin[i]);
289 h_s = beta * h_s / 2.0;
292 std::cout <<
"Cost function h_s: " << h_s << std::endl;
298 v = prim_task + sec_task;
310 for (
unsigned int i = 0; i < 6; i++) {
311 data[i] = (q[i] - Qmiddle[i]);
312 data[i] /= (Qmax[i] - Qmin[i]);
315 unsigned int joint = 2;
316 data[6] = 2 * (tQmin[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
317 data[7] = 2 * (tQmax[joint] - Qmiddle[joint]) / (Qmax[joint] - Qmin[joint]);
320 plot.plot(0, iter, data);
321 plot.plot(1, 0, iter, h_s);
332 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
340 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 ...
static double sqr(double x)
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_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
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