/*!
\example testFeature.cpp
Shows how to build a task with a \f$ \theta u \f$ visual feature.
*/
int main()
{
try {
for (int i=0; i < 3; i++) {
vpServo task ;
// Creation od a Theta U vector that represent the rotation
// between the desired camera frame and the current one.
vpThetaUVector tu_cdRc; // Current visual feature s
tu_cdRc[0] =0.1;
tu_cdRc[1] =0.2;
tu_cdRc[2] =0.3;
// Creation of the current feature s
vpFeatureThetaU s(vpFeatureThetaU::cdRc);
s.buildFrom(tu_cdRc);
s.print();
task.addFeature(s); // Add current ThetaU feature
// Creation of the desired feature s^*
vpFeatureThetaU s_star(vpFeatureThetaU::cdRc); // init to zero
// Compute the interaction matrix for the ThetaU_z feature
vpMatrix L_z = s.interaction( vpFeatureThetaU::selectTUz() );
// Compute the error vector (s-s^*) for the ThetaU_z feature
s.error(s_star, vpFeatureThetaU::selectTUz());
// A call to kill() is requested here to destroy properly the current
// and desired feature lists.
task.kill();
std::cout << "End, call vpServo destructors..." << std::endl;
}
return 0;
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
/*!
Connect to Pepper robot, and apply some motion.
By default, this example connect to a robot with ip address: 198.18.0.1.
If you want to connect on an other robot, run:
./motion --ip <robot ip address>
Example:
./motion --ip 169.254.168.230
*/
int main(int argc, const char* argv[])
{
try
{
std::string opt_ip = "198.18.0.1";;
if (argc == 3) {
if (std::string(argv[1]) == "--ip")
opt_ip = argv[2];
}
vpNaoqiRobot robot;
if (! opt_ip.empty()) {
std::cout << "Connect to robot with ip address: " << opt_ip << std::endl;
robot.setRobotIp(opt_ip);
}
robot.open();
std::vector<std::string> names = robot.getBodyNames("Body");
std::vector<float> values(names.size(),0.0);
robot.getProxy()->setMoveArmsEnabled(false,false);
robot.getPosition(names,values,false);
bool servoing = true;
// Define values
float y = 1.0; //
float ell1 = 2.0; //
float ell2 = 2.0; //
float ell = 2.0;
float d = 0.7; //
float x = 0.0;
vpMatrix L(1,6);
L = 0.0;
//float lambda = 0.03;
float lambda = 0.1;//0.09; // 0.050;
vpColVector s(1);
vpColVector s_star(1);
s_star[0] = 3.;// 1.;
vpColVector vel(6);
vpColVector vel_(3);
// vpMatrix J (6,6);
// J =0.0;
// j[]
AL::ALMemoryProxy memProxy(opt_ip, 9559);
bool start = false;
vpImage<unsigned char> I(320, 320);
vpDisplayX dd(I);
vpDisplay::setTitle(I, "ViSP viewer");
vpDisplay::setWindowPosition(I,1200,900);
vpLinearKalmanFilterInstantiation kalman;
double rho=0.3;
vpColVector sigma_state;
vpColVector sigma_measure(1);
int signal = 1;
kalman.setStateModel(vpLinearKalmanFilterInstantiation::stateConstAccWithColoredNoise_MeasureVel);
//kf.init(nbSrc,nbSrc,nbSrc);
int state_size = kalman.getStateSize();
sigma_state.resize(2);
sigma_state= 0.00001; // Same variance for all the signals
sigma_measure = 0.05; // Same measure variance for all the signals
double dt = 0.172;
kalman.initFilter(signal, sigma_state , sigma_measure, rho, dt );
kalman.verbose(true);
vpLinearKalmanFilterInstantiation kalman1;
kalman1.setStateModel(vpLinearKalmanFilterInstantiation::stateConstAccWithColoredNoise_MeasureVel);
//kf.init(nbSrc,nbSrc,nbSrc);
sigma_state.resize(2);
sigma_state= 0.00001; // Same variance for all the signals
sigma_measure = 0.05; // Same measure variance for all the signals
kalman1.initFilter(signal, sigma_state , sigma_measure, rho, dt );
kalman1.verbose(true);
vpPlot plotter (2);
plotter.initGraph(0, 1);
plotter.initGraph(1, 2);
//plotter_eyes.initGraph(2, 1);
//plotter_eyes.initGraph(3, 1);
plotter.setTitle(0, "Ratio");
plotter.setTitle(1, "Error");
//plotter_eyes.setTitle(2, "REyeYaw");
//plotter_eyes.setTitle(3, "REyePitch");
vpPlot plotter_kal (1);
plotter_kal.initGraph(0, 2);
//plotter_eyes.initGraph(2, 1);
//plotter_eyes.initGraph(3, 1);
plotter_kal.setTitle(0, "Ratio");
plotter_kal.setLegend(0, 0, "Ratio");
plotter_kal.setLegend(0, 1, "Ratio kal");
// vpPlot plotter_e (1);
// plotter_e.initGraph(0, 2);
// plotter_e.setLegend(0, 0, "Right");
// plotter_e.setLegend(0, 1, "Left");
// plotter_e.setTitle(0, "Energy");
vpPlot plotter_vel (1);
plotter_vel.initGraph(0, 3);
plotter_vel.setTitle(0, "Velocity");
plotter_vel.setLegend(0, 0, "vx");
plotter_vel.setLegend(0, 1, "vy");
plotter_vel.setLegend(0, 2, "wz");
unsigned long loop_iter = 0;
while (1)
{
std::cout << "----------------------------------" << std::endl;
double t = vpTime::measureTimeMs();
float ratio = memProxy.getData("ALSoundProcessing/ratioRightLeft");
float sound_detected = memProxy.getData("ALSoundProcessing/soundDetectedEnergy");
std::cout << "SoundDetected:" << sound_detected << std::endl;
if ( (sound_detected > 0.5) && !start)
start = true;
if (start)
{
float E1 = memProxy.getData("ALSoundProcessing/rightMicEnergy");
float E2= memProxy.getData("ALSoundProcessing/leftMicEnergy");
E1 = E1/1e9;
E2 = E2/1e9;
// plotter_e.plot(0, 0,loop_iter, float( memProxy.getData("ALSoundProcessing/rightMicEnergy")));
// plotter_e.plot(0, 1,loop_iter, float( memProxy.getData("ALSoundProcessing/leftMicEnergy")));
// plotter.plot(0, 1, loop_iter,ratio);
float c_x=d/2.*(E1+E2)/(E1-E2);
float c_r=std::abs((d*(sqrt(E1*E2)/(E1-E2)))) ;
ell=2.;//sqrt(sqrt(sqr(d*c_x))-d*d/4.+1);
ell1=sqrt((c_x-d/2)*(c_x-d/2) + c_r * c_r);
ell2=sqrt((c_x+d/2)*(c_x+d/2) + c_r * c_r);
//float Em=4.*E1*ell1*ell1/(2*ell1*ell1+2*ell2*ell2-d*d);
c_x=c_x/abs(c_x);
//x=c_x;
if (ratio >= 1.)
x = 2;
else
x = -2;
y=1;//c_r;
std::cout<<"ell:"<<ell<<std::endl;
vpColVector ratio_v(1);
ratio_v[0] = ratio;
//ratio_v[1] = Em;
kalman.filter(ratio_v);
std::cout << "Estimated x velocity: kalman.Xest[0]" << kalman.Xest[0]<< std::endl;
std::cout << "Estimated x velocity: kalman.Xest[1]" << kalman.Xest[1]<< std::endl;
plotter_kal.plot(0, 0, loop_iter, ratio);
ratio = (4*ratio + 3*kalman.Xest[0])/7;
plotter_kal.plot(0, 1, loop_iter, ratio);
// Compute Interaction matrix
L[0][0]= (2*x*(ratio-1)-d*(1+ratio))/(ell*ell-d*x+d*d/4.);
L[0][1]=(2*y*(ratio-1))/(ell*ell-d*x+d*d/4.);
L[0][5]=(y*d*(ratio+1))/(ell*ell-d*x+d*d/4.);
s[0] = ratio;
std::cout << "L: " << L << std::endl;
//lambda = 0.0216404* log(1+abs(ratio - s_star));
//Compute joint velocity NeckYaw
vpColVector e = (s-s_star);
vel =-lambda*L.pseudoInverse()*e;/* Compute V_m*/
std::cout << "e :" << e << std::endl;
vel_[0] = vel[1];
vel_[1] = -vel[0];
vel_[2] = vel[5];
plotter_vel.plot(0, 0, loop_iter, vel_[0]);
plotter_vel.plot(0, 1, loop_iter, vel_[1]);
plotter_vel.plot(0, 2, loop_iter, vel_[2]);
plotter.plot(0, 0, loop_iter,ratio);
plotter.plot(1, 0, loop_iter,e[0]);
std::cout << "vel: " << vel << std::endl;
if (servoing)
{
robot.getProxy()->move(vel_[0],vel_[1],vel_[2]);
robot.getProxy()->setAngles(names,values,1.0);
}
}
// Save current values
loop_iter ++;
vpTime::sleepMs(170);
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
if (vpDisplay::getClick(I, false))
break;
}
robot.getProxy()->move(0.0,0.0,0.0);
// plotter->saveData(0, "ratio.dat");
vpDisplay::getClick(I, true);
plotter_kal.saveData(0, "ratio.dat");
// plotter_kal.saveData(1,"em.dat");
plotter_vel.saveData(0, "vel.dat");
}
catch (const vpException &e)
{
std::cerr << "Caught exception: " << e.what() << std::endl;
}
catch (const AL::ALError &e)
{
std::cerr << "Caught exception: " << e.what() << std::endl;
}
return 0;
}