servoPtu46Point2DArtVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the ptu-46 robot (pan-tilt head provided by Directed Perception). The velocity is computed in articular. The visual feature is the center of gravity of a point.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 *   tests the control law
 *   eye-in-hand control
 *   velocity computed in articular
 */


#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <unistd.h>
#endif
#include <signal.h>
 
#if defined(VISP_HAVE_PTU46) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_THREADS)
 
#include <mutex>
 
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
 
#include <visp3/robot/vpRobotPtu46.h>
 
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
 
#include <visp3/blob/vpDot2.h>
 
std::mutex mutexEndLoop;
 
void signalCtrC(int signumber)
{
  (void)(signumber);
  mutexEndLoop.unlock();
  usleep(1000 * 10);
  vpTRACE("Ctrl-C pressed...");
}
 
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
  std::cout << std::endl;
  std::cout << "-------------------------------------------------------" << std::endl;
  std::cout << " Test program for vpServo " << std::endl;
  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
  std::cout << " Simulation " << std::endl;
  std::cout << " task : servo a point " << std::endl;
  std::cout << "-------------------------------------------------------" << std::endl;
  std::cout << std::endl;
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
  try {
    mutexEndLoop.lock();
    signal(SIGINT, &signalCtrC);
 
    vpRobotPtu46 robot;
    {
      vpColVector q(2);
      q = 0;
      robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
      robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
    }
 
    vpImage<unsigned char> I;
 
    vp1394TwoGrabber g;
 
    g.open(I);
 
    try {
      g.acquire(I);
    }
    catch (...) {
      vpERROR_TRACE(" Error caught");
      return EXIT_FAILURE;
    }
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display = vpDisplayFactory::createDisplay(I, 100, 100, "Servo Ptu");
#else
    display = vpDisplayFactory::allocateDisplay(I, 100, 100, "Servo Ptu");
#endif
    vpTRACE(" ");
 
    try {
      vpDisplay::display(I);
      vpDisplay::flush(I);
    }
    catch (...) {
      vpERROR_TRACE(" Error caught");
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
      if (display != nullptr) {
        delete display;
      }
#endif
      return EXIT_FAILURE;
    }
 
    vpServo task;
 
    vpDot2 dot;
 
    try {
      vpERROR_TRACE("start dot.initTracking(I) ");
      vpImagePoint germ;
      vpDisplay::getClick(I, germ);
      dot.setCog(germ);
      vpDEBUG_TRACE(25, "Click!");
      // dot.initTracking(I) ;
      dot.track(I);
      vpERROR_TRACE("after dot.initTracking(I) ");
    }
    catch (...) {
      vpERROR_TRACE(" Error caught ");
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
      if (display != nullptr) {
        delete display;
      }
#endif
      return EXIT_FAILURE;
    }
 
    vpCameraParameters cam;
 
    vpTRACE("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);
    vpTRACE("sets the desired position of the visual feature ");
    vpFeaturePoint pd;
    pd.buildFrom(0, 0, 1);
 
    vpTRACE("define the task");
    vpTRACE("\t we want an eye-in-hand control law");
    vpTRACE("\t articular velocity are computed");
    task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
    task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
 
    vpTRACE("Set the position of the end-effector frame in the camera frame");
    vpHomogeneousMatrix cMe;
    //  robot.get_cMe(cMe) ;
 
    vpVelocityTwistMatrix cVe;
    robot.get_cVe(cVe);
    std::cout << cVe << std::endl;
    task.set_cVe(cVe);
 
    vpDisplay::getClick(I);
    vpTRACE("Set the Jacobian (expressed in the end-effector frame)");
    vpMatrix eJe;
    robot.get_eJe(eJe);
    task.set_eJe(eJe);
 
    vpTRACE("\t we want to see a point on a point..");
    std::cout << std::endl;
    task.addFeature(p, pd);
 
    vpTRACE("\t set the gain");
    task.setLambda(0.1);
 
    vpTRACE("Display task information ");
    task.print();
 
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
 
    unsigned int iter = 0;
    vpTRACE("\t loop");
    while (0 != mutexEndLoop.trylock()) {
      std::cout << "---------------------------------------------" << iter << std::endl;
 
      g.acquire(I);
      vpDisplay::display(I);
 
      dot.track(I);
 
      vpFeatureBuilder::create(p, cam, dot);
 
      // get the jacobian
      robot.get_eJe(eJe);
      task.set_eJe(eJe);
 
      //  std::cout << (vpMatrix)cVe*eJe << std::endl ;
 
      vpColVector v;
      v = task.computeControlLaw();
 
      vpServoDisplay::display(task, cam, I);
      std::cout << v.t();
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
      vpDisplay::flush(I);
 
      vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
    }
 
    vpTRACE("Display task information ");
    task.print();
  }
  catch (const vpException &e) {
    std::cout << "Sorry PtU46 not available. Got exception: " << e << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_FAILURE
  }
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
  return EXIT_SUCCESS;
}
 
#else
int main() { std::cout << "You do not have an PTU46 PT robot connected to your computer..." << std::endl; }
#endif