int main(){
Circle[0].mux = 0;
Circle[0].muy = 0;
Circle[0].r = 1000;
for (int n = 1; n < m; n++){
Qmax(n);
printf("%.4d", Circle[n].mux);
printf(" %.4d", Circle[n].muy);
printf(" %.4d", Circle[n].r);
printf("\n");
}
}
int
main()
{
try {
vpRobotViper850 robot ;
vpServo task ;
vpImage<unsigned char> I ;
bool reset = false;
vp1394TwoGrabber g(reset);
g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
g.open(I) ;
g.acquire(I) ;
double Tloop = 1./60.f;
vp1394TwoGrabber::vp1394TwoFramerateType fps;
g.getFramerate(fps);
switch(fps) {
case vp1394TwoGrabber::vpFRAMERATE_15 : Tloop = 1.f/15.f; break;
case vp1394TwoGrabber::vpFRAMERATE_30 : Tloop = 1.f/30.f; break;
case vp1394TwoGrabber::vpFRAMERATE_60 : Tloop = 1.f/60.f; break;
case vp1394TwoGrabber::vpFRAMERATE_120: Tloop = 1.f/120.f; break;
default: break;
}
std::cout << "Tloop: " << Tloop << std::endl;
#ifdef VISP_HAVE_X11
vpDisplayX display(I,800,100,"Current image") ;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display(I,800,100,"Current image") ;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I,800,100,"Current image") ;
#endif
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
vpColVector jointMin(6), jointMax(6) ;
jointMin = robot.getJointMin();
jointMax = robot.getJointMax();
vpColVector Qmin(6), tQmin(6) ;
vpColVector Qmax(6), tQmax(6) ;
vpColVector Qmiddle(6);
vpColVector data(10) ;
double rho = 0.25 ;
for (unsigned int i=0 ; i < 6 ; i++)
{
Qmin[i] = jointMin[i] + 0.5*rho*(jointMax[i]-jointMin[i]) ;
Qmax[i] = jointMax[i] - 0.5*rho*(jointMax[i]-jointMin[i]) ;
}
Qmiddle = (Qmin + Qmax) /2.;
double rho1 = 0.1 ;
for (unsigned int i=0 ; i < 6 ; i++) {
tQmin[i]=Qmin[i]+ 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
tQmax[i]=Qmax[i]- 0.5*(rho1)*(Qmax[i]-Qmin[i]) ;
}
vpColVector q(6) ;
// Create a window with two graphics
// - first graphic to plot q(t), Qmin, Qmax, tQmin and tQmax
// - second graphic to plot the cost function h_s
vpPlot plot(2);
// The first graphic contains 10 data to plot: q(t), Qmin, Qmax, tQmin and
// tQmax
plot.initGraph(0, 10);
plot.initGraph(1, 6);
// For the first graphic :
// - along the x axis the expected values are between 0 and 200 and
// the step is 1
// - along the y axis the expected values are between -1.2 and 1.2 and the
// step is 0.1
plot.initRange(0,0,200,1,-1.2,1.2,0.1);
plot.setTitle(0, "Joint behavior");
plot.initRange(1,0,200,1,-0.01,0.01,0.05);
plot.setTitle(1, "Joint velocity");
// For the first graphic, set the curves legend
char legend[10];
for (unsigned int i=0; i < 6; i++) {
sprintf(legend, "q%d", i+1);
plot.setLegend(0, i, legend);
sprintf(legend, "q%d", i+1);
plot.setLegend(1, i, legend);
}
plot.setLegend(0, 6, "tQmin");
plot.setLegend(0, 7, "tQmax");
plot.setLegend(0, 8, "Qmin");
plot.setLegend(0, 9, "Qmax");
// Set the curves color
plot.setColor(0, 0, vpColor::red);
plot.setColor(0, 1, vpColor::green);
plot.setColor(0, 2, vpColor::blue);
plot.setColor(0, 3, vpColor::orange);
plot.setColor(0, 4, vpColor(0, 128, 0));
plot.setColor(0, 5, vpColor::cyan);
for (unsigned int i= 6; i < 10; i++)
plot.setColor(0, i, vpColor::black); // for Q and tQ [min,max]
// Set the curves color
plot.setColor(1, 0, vpColor::red);
plot.setColor(1, 1, vpColor::green);
plot.setColor(1, 2, vpColor::blue);
plot.setColor(1, 3, vpColor::orange);
plot.setColor(1, 4, vpColor(0, 128, 0));
plot.setColor(1, 5, vpColor::cyan);
vpDot2 dot ;
std::cout << "Click on a dot..." << std::endl;
dot.initTracking(I) ;
vpImagePoint cog = dot.getCog();
vpDisplay::displayCross(I, cog, 10, vpColor::blue) ;
vpDisplay::flush(I);
vpCameraParameters cam ;
// Update camera parameters
robot.getCameraParameters (cam, I);
// sets the current position of the visual feature
vpFeaturePoint p ;
vpFeatureBuilder::create(p,cam, dot) ; //retrieve x,y and Z of the vpPoint structure
p.set_Z(1) ;
// sets the desired position of the visual feature
vpFeaturePoint pd ;
pd.buildFrom(0,0,1) ;
// Define the task
// - we want an eye-in-hand control law
// - articular velocity are computed
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
vpVelocityTwistMatrix cVe ;
robot.get_cVe(cVe) ;
std::cout << cVe <<std::endl ;
task.set_cVe(cVe) ;
// - Set the Jacobian (expressed in the end-effector frame)") ;
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// - we want to see a point on a point..") ;
std::cout << std::endl ;
task.addFeature(p,pd) ;
// - set the gain
double lambda = 0.8;
// set to -1 to suppress the lambda used in the vpServo::computeControlLaw()
task.setLambda(-1) ;
// Display task information " ) ;
task.print() ;
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;
int iter = 0;
double t_0, t_1 = vpTime::measureTimeMs(), Tv;
dc1394video_frame_t *frame = NULL;
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for ( ; ; ) {
iter ++;
t_0 = vpTime::measureTimeMs(); // t_0: current time
// Update loop time in second
Tv = (double)(t_0 - t_1) / 1000.0;
std::cout << "Tv: " << Tv << std::endl;
// Update time for next iteration
t_1 = t_0;
// Acquire a new image from the camera
frame = g.dequeue(I);
// Display this image
vpDisplay::display(I) ;
// Achieve the tracking of the dot in the image
dot.track(I) ;
cog = dot.getCog();
// Display a green cross at the center of gravity position in the image
vpDisplay::displayCross(I, cog, 10, vpColor::green) ;
// Get the measured joint positions of the robot
robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
// Update the point feature from the dot location
vpFeatureBuilder::create(p, cam, dot);
// Get the jacobian of the robot
robot.get_eJe(eJe) ;
// Update this jacobian in the task structure. It will be used to compute
// the velocity skew (as an articular velocity)
// qdot = -lambda * L^+ * cVe * eJe * (s-s*)
task.set_eJe(eJe) ;
vpColVector prim_task ;
vpColVector e2(6) ;
// Compute the visual servoing skew vector
prim_task = task.computeControlLaw() ;
vpColVector qpre(6);
qpre = q ;
qpre += -lambda*prim_task*(4*Tloop) ;
// Identify the joints near the limits
vpColVector pb(6) ; pb = 0 ;
unsigned int npb =0 ;
for (unsigned int i=0 ; i < 6 ;i++) {
if (q[i] < tQmin[i])
if (fabs(Qmin[i]-q[i]) > fabs(Qmin[i]-qpre[i])) {
pb[i] = 1 ; npb++ ;
std::cout << "Joint " << i << " near limit " << std::endl ;
}
if (q[i]>tQmax[i]) {
if (fabs(Qmax[i]-q[i]) > fabs(Qmax[i]-qpre[i])) {
pb[i] = 1 ; npb++ ;
std::cout << "Joint " << i << " near limit " << std::endl ;
}
}
}
vpColVector a0 ;
vpMatrix J1 = task.getTaskJacobian();
vpMatrix kernelJ1;
J1.kernel(kernelJ1);
unsigned int dimKernelL = kernelJ1.getCols() ;
if (npb != 0) {
// Build linear system a0*E = S
vpMatrix E(npb, dimKernelL) ;
vpColVector S(npb) ;
unsigned int k=0 ;
for (unsigned int j=0 ; j < 6 ; j++) // j is the joint
//if (pb[j]==1) {
if (std::fabs(pb[j]-1) <= std::numeric_limits<double>::epsilon()) {
for (unsigned int i=0 ; i < dimKernelL ; i++)
E[k][i] = kernelJ1[j][i] ;
S[k] = -prim_task[j] ;
k++ ;
}
vpMatrix Ep ;
//vpTRACE("nbp %d", npb);
Ep = E.t()*(E*E.t()).pseudoInverse() ;
a0 = Ep*S ;
e2 = (kernelJ1*a0) ;
//cout << "e2 " << e2.t() ;
}
else {
e2 = 0;
}
// std::cout << "e2: " << e2.t() << std::endl;
vpColVector v ;
v = -lambda * (prim_task + e2);
// Display the current and desired feature points in the image display
vpServoDisplay::display(task, cam, I) ;
// Apply the computed joint velocities to the robot
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v) ;
{
// Add the material to plot curves
// q normalized between (entre -1 et 1)
for (unsigned int i=0 ; i < 6 ; i++) {
data[i] = (q[i] - Qmiddle[i]) ;
data[i] /= (Qmax[i] - Qmin[i]) ;
data[i]*=2 ;
}
unsigned int joint = 2;
data[6] = 2*(tQmin[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
data[7] = 2*(tQmax[joint]-Qmiddle[joint])/(Qmax[joint] - Qmin[joint]) ;
data[8] = -1 ; data[9] = 1 ;
plot.plot(0, iter, data); // plot q, Qmin, Qmax, tQmin, tQmax
plot.plot(1, iter, v); // plot joint velocities applied to the robot
}
vpDisplay::flush(I) ;
// Synchronize the loop with the image frame rate
vpTime::wait(t_0, 1000.*Tloop);
// Release the ring buffer used for the last image to start a new acq
g.enqueue(frame);
}
// Display task information
task.print() ;
task.kill();
return 0;
}
catch (...)
{
vpERROR_TRACE(" Test failed") ;
return 0;
}
}