void MotionPlanningFrame::copyTrajectoryToDisplay(const moveit_msgs::RobotState& start_state,
const apc_msgs::PrimitivePlan& plan)
{
// Get a robot model.
const robot_model::RobotModelConstPtr& robot_model = planning_display_->getRobotModel();
// Construct a new robot trajectory.
robot_trajectory::RobotTrajectoryPtr display_trajectory(new robot_trajectory::RobotTrajectory(robot_model, ""));
// Accumulate joint trajectory over entire plan.
trajectory_msgs::JointTrajectory trajectory = trajectory_msgs::JointTrajectory();
for (int i = 0; i < plan.actions.size(); i++)
appendToTrajectory(trajectory, plan.actions[i].joint_trajectory);
// Copy current plan over to robot trajectory.
display_trajectory->setRobotTrajectoryMsg(planning_display_->getPlanningSceneRO()->getCurrentState(),
// FIXME start_state,
trajectory);
// Swap the plan trajectory into our planning display.
planning_display_->setTrajectoryToDisplay(display_trajectory);
// Display trail. FIXME This doesn't accomplish anything actually.
previewButtonClicked();
}
int main()
{
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
std::vector<vpPoint> point(4) ;
point[0].setWorldCoordinates(-0.1,-0.1, 0);
point[1].setWorldCoordinates( 0.1,-0.1, 0);
point[2].setWorldCoordinates( 0.1, 0.1, 0);
point[3].setWorldCoordinates(-0.1, 0.1, 0);
vpServo task ;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4] ;
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
task.addFeature(p[i], pd[i]);
}
vpHomogeneousMatrix wMc, wMo;
vpSimulatorCamera robot;
robot.setSamplingTime(0.040);
robot.getPosition(wMc);
wMo = wMc * cMo;
vpImage<unsigned char> Iint(480, 640, 0) ;
vpImage<unsigned char> Iext(480, 640, 0) ;
#if defined VISP_HAVE_X11
vpDisplayX displayInt(Iint, 0, 0, "Internal view");
vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined VISP_HAVE_GDI
vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
vpWireFrameSimulator sim;
sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
sim.setCameraPositionRelObj(cMo);
sim.setDesiredCameraPosition(cdMo);
sim.setExternalCameraPosition(cextMo);
sim.setInternalCameraParameters(cam);
sim.setExternalCameraParameters(cam);
while(1) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
vpColVector v = task.computeControlLaw();
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
sim.setCameraPositionRelObj(cMo);
vpDisplay::display(Iint) ;
vpDisplay::display(Iext) ;
sim.getInternalImage(Iint);
sim.getExternalImage(Iext);
display_trajectory(Iint, point, cMo, cam);
vpDisplay::flush(Iint);
vpDisplay::flush(Iext);
// A click in the internal view to exit
if (vpDisplay::getClick(Iint, false))
break;
vpTime::wait(1000*robot.getSamplingTime());
}
task.kill();
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
int main()
{
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
vpImage<unsigned char> I(480, 640, 255);
vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
std::vector<vpPoint> point(4) ;
point[0].setWorldCoordinates(-0.1,-0.1, 0);
point[1].setWorldCoordinates( 0.1,-0.1, 0);
point[2].setWorldCoordinates( 0.1, 0.1, 0);
point[3].setWorldCoordinates(-0.1, 0.1, 0);
vpServo task ;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpVirtualGrabber g("./target_square.pgm", cam);
g.acquire(I, cMo);
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, 0, 0, "Current camera view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, 0, 0, "Current camera view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV d(I, 0, 0, "Current camera view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpDisplay::display(I);
vpDisplay::displayText(I, 10, 10,
"Click in the 4 dots to initialise the tracking and start the servo",
vpColor::red);
vpDisplay::flush(I);
vpFeaturePoint p[4], pd[4];
std::vector<vpDot2> dot(4);
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
dot[i].setGraphics(true);
dot[i].initTracking(I);
vpDisplay::flush(I);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
task.addFeature(p[i], pd[i]);
}
vpHomogeneousMatrix wMc, wMo;
vpSimulatorCamera robot;
robot.setSamplingTime(0.040);
robot.getPosition(wMc);
wMo = wMc * cMo;
for (; ; ) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
g.acquire(I, cMo);
vpDisplay::display(I);
for (unsigned int i = 0 ; i < 4 ; i++) {
dot[i].track(I);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
vpColVector cP;
point[i].changeFrame(cMo, cP) ;
p[i].set_Z(cP[2]);
}
vpColVector v = task.computeControlLaw();
display_trajectory(I, dot);
vpServoDisplay::display(task, cam, I, vpColor::green, vpColor::red) ;
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
vpTime::wait( robot.getSamplingTime() * 1000);
}
task.kill();
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
void MotionPlanningFrame::computePlanGoalsButtonClicked()
{
if (!move_group_)
return;
// Clear status
ui_->result_label->setText("Planning...");
// Reset the current plan.
current_plan_.reset(new moveit::planning_interface::MoveGroup::Plan());
// The primitive plan is used for actual execution on the robot. HACK
// We reset it here.
primitive_plan_.reset(new apc_msgs::PrimitivePlan);
// Get the list of goals (waypoints) to follow.
QListWidget* goals_list = ui_->active_goals_list;
// Get the current start state.
robot_state::RobotState start_state = *planning_display_->getQueryStartState();
// The target goal state will be initialized to the start state.
robot_state::RobotState goal_state = start_state;
// For each item in the active goals list, configure for planning and then
// append to the plan.
for (int i = 0; i < goals_list->count(); i++)
{
// First get the plan represented by the item.
apc_msgs::PrimitivePlan plan =
getMessageFromUserData<apc_msgs::PrimitivePlan>(goals_list->item(i)->data(Qt::UserRole));
// Loop through the actions in the plan.
for (int j = 0; j < plan.actions.size(); j++)
{
// Get the last action from the user data because it is the goal state.
apc_msgs::PrimitiveAction action = plan.actions.back();
// Get the goal robot state from user data.
getStateFromAction(goal_state, action);
// HACK Reset move group so that I can plan with a different group... SMH.
changePlanningGroupHelper(action.group_name);
planning_display_->waitForAllMainLoopJobs(); // I hope there are no cyclic main job loops.
// Set move group variables, like start and goal states, etc.
configureForPlanning(start_state, goal_state);
// Compute plan specific to the current primitive action.
moveit::planning_interface::MoveGroup::Plan move_group_plan;
// Make a planning service call. This will append any plans to the input.
if (!move_group_->plan(move_group_plan))
{
ui_->result_label->setText("Failed");
current_plan_.reset();
return;
}
// Copy plan over to primitive action.
action.joint_trajectory = move_group_plan.trajectory_.joint_trajectory;
action.duration = move_group_plan.planning_time_;
// TODO Eef trajectory support.
// TODO Dense trajectory support.
// HACK If we are planning for the hands, overwrite plan with linear interpolation.
if (action.group_name == "crichton_left_hand" ||
action.group_name == "crichton_right_hand")
{
computeLinearInterpPlan(start_state, action);
move_group_plan.trajectory_.joint_trajectory = action.joint_trajectory;
}
// Append plan onto the current plan.
move_group_->appendPlan(*current_plan_, move_group_plan);
// Append action onto primitive plan.
primitive_plan_->actions.push_back(action);
// Start the next plan from this goal.
start_state = goal_state;
}
}
// Success
ui_->execute_button->setEnabled(true);
ui_->result_label->setText(QString("Time: ").append(
QString::number(current_plan_->planning_time_,'f',3)));
// Copy trajectory over to display.
{
// Get a robot model.
const robot_model::RobotModelConstPtr& robot_model = planning_display_->getRobotModel();
// Construct a new robot trajectory.
robot_trajectory::RobotTrajectoryPtr display_trajectory(new robot_trajectory::RobotTrajectory(robot_model, ""));
// Copy current plan over to robot trajectory.
display_trajectory->setRobotTrajectoryMsg(planning_display_->getPlanningSceneRO()->getCurrentState(),
current_plan_->start_state_,
current_plan_->trajectory_);
// Swap the plan trajectory into our planning display.
planning_display_->setTrajectoryToDisplay(display_trajectory);
// Display trail. FIXME This doesn't accomplish anything actually.
previewButtonClicked();
}
}
int main()
{
#if defined(VISP_HAVE_PTHREAD)
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
/*
Top view of the world frame, the camera frame and the object frame
world, also robot base frame : --> w_y
|
\|/
w_x
object :
o_y
/|\
|
o_x <--
camera :
c_y
/|\
|
c_x <--
*/
vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15),
vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI/2.)));
std::vector<vpPoint> point;
point.push_back( vpPoint(-0.1,-0.1, 0) );
point.push_back( vpPoint( 0.1,-0.1, 0) );
point.push_back( vpPoint( 0.1, 0.1, 0) );
point.push_back( vpPoint(-0.1, 0.1, 0) );
vpServo task ;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4] ;
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
task.addFeature(p[i], pd[i]);
}
vpSimulatorViper850 robot(true);
robot.setVerbose(true);
// Enlarge the default joint limits
vpColVector qmin = robot.getJointMin();
vpColVector qmax = robot.getJointMax();
qmin[0] = -vpMath::rad(180);
qmax[0] = vpMath::rad(180);
qmax[1] = vpMath::rad(0);
qmax[2] = vpMath::rad(270);
qmin[4] = -vpMath::rad(180);
qmax[4] = vpMath::rad(180);
robot.setJointLimit(qmin, qmax);
std::cout << "Robot joint limits: " << std::endl;
for (unsigned int i=0; i< qmin.size(); i ++)
std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;
robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
robot.set_fMo(wMo);
bool ret = true;
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
ret =
#endif
robot.initialiseCameraRelativeToObject(cMo);
if (ret == false)
return 0; // Not able to set the position
robot.setDesiredCameraPosition(cdMo);
// We modify the default external camera position
robot.setExternalCameraPosition(vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2),
vpRotationMatrix(vpRxyzVector(M_PI/2,0,0))));
vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_X11)
vpDisplayX displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV displayInt(Iint, 700, 0, "Internal view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
// Modify the camera parameters to match those used in the other simulations
robot.setCameraParameters(cam);
bool start = true;
//for ( ; ; )
for (int iter =0; iter < 275; iter ++)
{
cMo = robot.get_cMo();
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
vpDisplay::display(Iint);
robot.getInternalView(Iint);
if (!start) {
display_trajectory(Iint, point, cMo, cam);
vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
}
vpDisplay::flush(Iint);
vpColVector v = task.computeControlLaw();
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
// A click to exit
if (vpDisplay::getClick(Iint, false))
break;
if (start) {
start = false;
v = 0;
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
vpDisplay::flush(Iint);
//vpDisplay::getClick(Iint);
}
vpTime::wait(1000*robot.getSamplingTime());
}
task.kill();
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
int main()
{
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1.,
vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
std::vector<vpPoint> point;
point.push_back( vpPoint(-0.1,-0.1, 0) );
point.push_back( vpPoint( 0.1,-0.1, 0) );
point.push_back( vpPoint( 0.1, 0.1, 0) );
point.push_back( vpPoint(-0.1, 0.1, 0) );
vpServo task ;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4] ;
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
task.addFeature(p[i], pd[i]);
}
vpHomogeneousMatrix wMc, wMo;
vpSimulatorCamera robot;
robot.setSamplingTime(0.040);
robot.getPosition(wMc);
wMo = wMc * cMo;
vpImage<unsigned char> Iint(480, 640, 255) ;
vpImage<unsigned char> Iext(480, 640, 255) ;
#if defined(VISP_HAVE_X11)
vpDisplayX displayInt(Iint, 0, 0, "Internal view");
vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
#if defined(VISP_HAVE_DISPLAY)
vpProjectionDisplay externalview;
for (unsigned int i = 0 ; i < 4 ; i++)
externalview.insert(point[i]) ;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
while(1) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
vpColVector v = task.computeControlLaw();
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::display(Iint) ;
vpDisplay::display(Iext) ;
display_trajectory(Iint, point, cMo, cam);
vpServoDisplay::display(task, cam, Iint, vpColor::green, vpColor::red);
#if defined(VISP_HAVE_DISPLAY)
externalview.display(Iext, cextMo, cMo, cam, vpColor::red, true);
#endif
vpDisplay::flush(Iint);
vpDisplay::flush(Iext);
// A click to exit
if (vpDisplay::getClick(Iint, false) || vpDisplay::getClick(Iext, false))
break;
vpTime::wait( robot.getSamplingTime() * 1000);
}
task.kill();
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
