49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpDebug.h>
58 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2) && defined(VISP_HAVE_DISPLAY))
60 #include <visp3/sensor/vp1394TwoGrabber.h>
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/gui/vpDisplayX.h>
64 #include <visp3/gui/vpDisplayOpenCV.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/visual_features/vpFeaturePoint.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/vs/vpServo.h>
71 #include <visp3/visual_features/vpFeatureBuilder.h>
72 #include <visp3/robot/vpRobotViper850.h>
73 #include <visp3/core/vpIoTools.h>
74 #include <visp3/core/vpException.h>
75 #include <visp3/vs/vpServoDisplay.h>
76 #include <visp3/blob/vpDot2.h>
77 #include <visp3/gui/vpPlot.h>
99 vpDisplayX display(I,800,100,
"Current image") ;
100 #elif defined(VISP_HAVE_OPENCV)
102 #elif defined(VISP_HAVE_GTK)
116 Qmiddle = (jointMin + jointMax) /2.;
129 plot.initGraph(0, 12);
131 plot.initGraph(1, 6);
136 plot.initRange(0, 0., 200., -1.2, 1.2);
137 plot.setTitle(0,
"Joint behavior");
140 plot.setTitle(1,
"Q secondary task");
144 for (
unsigned int i=0; i < 6; i++) {
145 sprintf(legend,
"q%d", i+1);
146 plot.setLegend(0, i, legend);
147 plot.setLegend(1, i, legend);
149 plot.setLegend(0, 6,
"Low Limit");
150 plot.setLegend(0, 7,
"Upper Limit");
151 plot.setLegend(0, 8,
"ql0 min");
152 plot.setLegend(0, 9,
"ql0 max");
153 plot.setLegend(0, 10,
"ql1 min");
154 plot.setLegend(0, 11,
"ql1 max");
161 plot.setColor(0, 4,
vpColor(0, 128, 0));
163 for (
unsigned int i= 6; i < 12; i++)
170 std::cout <<
"Click on a dot..." << std::endl;
197 std::cout << cVe <<std::endl ;
206 std::cout << std::endl ;
218 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
255 v = prim_task + sec_task;
267 for (
unsigned int i=0 ; i < 6 ; i++) {
268 data[i] = (q[i] - Qmiddle[i]) ;
269 data[i] /= (jointMax[i] - jointMin[i]) ;
276 unsigned int joint = 2;
277 double tQmin_l0 = jointMin[joint] + rho *(jointMax[joint] - jointMin[joint]);
278 double tQmax_l0 = jointMax[joint] - rho *(jointMax[joint] - jointMin[joint]);
280 double tQmin_l1 = tQmin_l0 - rho * rho1 * (jointMax[joint] - jointMin[joint]);
281 double tQmax_l1 = tQmax_l0 + rho * rho1 * (jointMax[joint] - jointMin[joint]);
283 data[8] = 2*(tQmin_l0 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
284 data[9] = 2*(tQmax_l0 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
285 data[10] = 2*(tQmin_l1 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
286 data[11] = 2*(tQmax_l1 - Qmiddle[joint])/(jointMax[joint] - jointMin[joint]);
287 plot.plot(0, iter, data);
288 plot.plot(1, iter, sec_task);
311 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Control of Irisa's Viper S850 robot named Viper850.
static const vpColor black
Class to define colors available for display functionnalities.
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static const vpColor orange
vpImagePoint getCog() const
Initialize the velocity controller.
static const vpColor cyan
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
vpColVector getJointMin() const
void get_cVe(vpVelocityTwistMatrix &cVe) const
vpColVector secondaryTaskJointLimitAvoidance(const vpColVector &q, const vpColVector &dq, const vpColVector &jointMin, const vpColVector &jointMax, const double &rho=0.1, const double &rho1=0.3, const double &lambda_tune=0.7) const
vpColVector getJointMax() const
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
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)
static const vpColor blue