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/*!
\example tutorial-simu-pioneer-continuous-gain-constant.cpp
Example that shows how to simulate a visual servoing on a Pioneer mobile
robot equipped with a camera. The current visual features that are used are
s = (x, log(Z/Z*)). The desired one are s* = (x*, 0), with:
- x the abscise of the point measured at each iteration
- x* the desired abscise position of the point (x* = 0)
- Z the depth of the point measured at each iteration
- Z* the desired depth of the point equal to the initial one.
The degrees of freedom that are controlled are (vx, wz), where wz is the
rotational velocity and vx the translational velocity of the mobile platform
at point M located at the middle between the two wheels.
The feature x allows to control wy, while log(Z/Z*) allows to control vz.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/gui/vpPlot.h>
#include <visp3/robot/vpSimulatorPioneer.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureDepth.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
int main()
{
#if defined(ENABLE_VISP_NAMESPACE)
using namespace VISP_NAMESPACE_NAME;
#endif
try {
vpHomogeneousMatrix cdMo;
cdMo[1][3] = 1.2;
cdMo[2][3] = 0.5;
vpHomogeneousMatrix cMo;
cMo[0][3] = 0.3;
cMo[1][3] = cdMo[1][3];
cMo[2][3] = 1.;
vpRotationMatrix cRo(0, atan2(cMo[0][3], cMo[1][3]), 0);
cMo.insert(cRo);
vpSimulatorPioneer robot;
robot.setSamplingTime(0.04);
vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc);
wMo = wMc * cMo;
vpPoint point(0, 0, 0);
point.track(cMo);
vpServo task;
task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
task.setLambda(0.2);
vpVelocityTwistMatrix cVe;
cVe = robot.get_cVe();
task.set_cVe(cVe);
vpMatrix eJe;
robot.get_eJe(eJe);
task.set_eJe(eJe);
vpFeaturePoint s_x, s_xd;
vpFeatureBuilder::create(s_x, point);
s_xd.buildFrom(0, 0, cdMo[2][3]);
task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
vpFeatureDepth s_Z, s_Zd;
double Z = point.get_Z();
double Zd = cdMo[2][3];
s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z / Zd));
s_Zd.buildFrom(0, 0, Zd, 0);
task.addFeature(s_Z, s_Zd);
#ifdef VISP_HAVE_DISPLAY
// Create a window (800 by 500) at position (400, 10) with 3 graphics
vpPlot graph(3, 800, 500, 400, 10, "Curves...");
// Init the curve plotter
graph.initGraph(0, 2);
graph.initGraph(1, 2);
graph.initGraph(2, 1);
graph.setTitle(0, "Velocities");
graph.setTitle(1, "Error s-s*");
graph.setTitle(2, "Depth");
graph.setLegend(0, 0, "vx");
graph.setLegend(0, 1, "wz");
graph.setLegend(1, 0, "x");
graph.setLegend(1, 1, "log(Z/Z*)");
graph.setLegend(2, 0, "Z");
#endif
int iter = 0;
for (;;) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
point.track(cMo);
vpFeatureBuilder::create(s_x, point);
Z = point.get_Z();
s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z / Zd));
robot.get_cVe(cVe);
task.set_cVe(cVe);
robot.get_eJe(eJe);
task.set_eJe(eJe);
vpColVector v = task.computeControlLaw(iter * robot.getSamplingTime());
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
#ifdef VISP_HAVE_DISPLAY
graph.plot(0, iter, v); // plot velocities applied to the robot
graph.plot(1, iter, task.getError()); // plot error vector
graph.plot(2, 0, iter, Z); // plot the depth
#endif
iter++;
if (task.getError().sumSquare() < 0.0001) {
std::cout << "Reached a small error. We stop the loop... " << std::endl;
break;
}
}
#ifdef VISP_HAVE_DISPLAY
graph.saveData(0, "./v2.dat");
graph.saveData(1, "./error2.dat");
const char *legend = "Click to quit...";
vpDisplay::displayText(graph.I, static_cast<int>(graph.I.getHeight()) - 60, static_cast<int>(graph.I.getWidth()) - 150, legend, vpColor::red);
vpDisplay::flush(graph.I);
vpDisplay::getClick(graph.I);
#endif
// Kill the servo task
task.print();
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
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