#include <VisualServoingServer.h>

Inheritance diagram for VisualServoingServer:

Public Member Functions
	VisualServoingServer ()

	~VisualServoingServer ()

bool	open (yarp::os::Searchable &config) override

bool	close () override

bool	initFacilities (const bool use_direct_kin) override

bool	resetFacilities () override

bool	stopFacilities () override

bool	goToGoal (const yarp::sig::Vector &vec_x, const yarp::sig::Vector &vec_o) override

bool	goToGoal (const std::vector< yarp::sig::Vector > &vec_px_l, const std::vector< yarp::sig::Vector > &vec_px_r) override

bool	setModality (const std::string &mode) override

bool	setVisualServoControl (const std::string &control) override

bool	setControlPoint (const yarp::os::ConstString &point) override

bool	getVisualServoingInfo (yarp::os::Bottle &info) override

bool	setGoToGoalTolerance (const double tol=15.0) override

bool	checkVisualServoingController () override

bool	waitVisualServoingDone (const double period=0.1, const double timeout=0.0) override

bool	stopController () override

bool	setTranslationGain (const double K_x_1=1.0, const double K_x_2=0.25) override

bool	setMaxTranslationVelocity (const double max_x_dot) override

bool	setTranslationGainSwitchTolerance (const double K_x_tol=30.0) override

bool	setOrientationGain (const double K_x_1=1.5, const double K_x_2=0.375) override

bool	setMaxOrientationVelocity (const double max_o_dot) override

bool	setOrientationGainSwitchTolerance (const double K_o_tol=30.0) override

std::vector< yarp::sig::Vector >	get3DGoalPositionsFrom3DPose (const yarp::sig::Vector &x, const yarp::sig::Vector &o) override

std::vector< yarp::sig::Vector >	getGoalPixelsFrom3DPose (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const CamSel &cam) override

bool	storedInit (const std::string &label) override

bool	storedGoToGoal (const std::string &label) override

bool	goToSFMGoal () override

virtual bool	go_to_px_goal (const std::vector< std::vector< double > > &vec_px_l, const std::vector< std::vector< double > > &vec_px_r)
	Set the goal points on both left and right camera image plane and start visual servoing. More...

virtual bool	read (yarp::os::ConnectionReader &connection) override

virtual std::vector< std::string >	help (const std::string &functionName="--all")

Protected Types
enum	VisualServoControl { VisualServoControl::decoupled, VisualServoControl::robust, VisualServoControl::cartesian }

enum	PixelControlMode { PixelControlMode::all, PixelControlMode::x, PixelControlMode::o }

enum	OperatingMode { OperatingMode::position, OperatingMode::orientation, OperatingMode::pose }

Protected Member Functions
void	beforeStart () override

bool	threadInit () override

void	run () override

void	afterStart (bool success) override

void	onStop () override

void	threadRelease () override

bool	init_facilities (const bool use_direct_kin) override
	Initialize support modules and connections to perform a visual servoing task. More...

bool	reset_facilities () override
	Reset support modules and connections to perform the current initialized visual servoing task. More...

bool	stop_facilities () override
	Stop and disconnect support modules and connections used for visual servoing. More...

bool	go_to_px_goal (const std::vector< std::vector< double >> &vec_px_l, const std::vector< std::vector< double >> &vec_px_r) override

bool	go_to_pose_goal (const std::vector< double > &vec_x, const std::vector< double > &vec_o) override
	Set the goal point (3D for the position + 4D axis-angle for the orientation) and start visual servoing. More...

bool	set_modality (const std::string &mode) override
	Set visual servoing operating mode between: More...

bool	set_visual_servo_control (const std::string &control) override
	Set visual servo control law between: More...

bool	set_control_point (const std::string &point) override
	Set the point controlled during visual servoing. More...

std::vector< std::string >	get_visual_servoing_info () override
	Return useful information for visual servoing. More...

bool	set_go_to_goal_tolerance (const double tol) override
	Set visual servoing goal tolerance. More...

bool	check_visual_servoing_controller () override
	Check once whether the visual servoing controller is running or not. More...

bool	wait_visual_servoing_done (const double period, const double timeout) override
	Wait until visual servoing reaches the goal. More...

bool	stop_controller () override
	Ask for an immediate stop of the visual servoing controller. More...

bool	set_translation_gain (const double K_x_1, const double K_x_2) override
	Set the translation gains of the visual servoing control algorithm. More...

bool	set_max_translation_velocity (const double max_x_dot) override
	Set the maximum translation velocity of the visual servoing control algorithm (same for each axis). More...

bool	set_translation_gain_switch_tolerance (const double K_x_tol) override
	Set the tolerance, in pixels, at which the translation control law swithces its gain value. More...

bool	set_orientation_gain (const double K_o_1, const double K_o_2) override
	Set the orientation gains of the visual servoing control algorithm. More...

bool	set_max_orientation_velocity (const double max_o_dot) override
	Set the maximum angular velocity of the axis-angle velocity vector of the visual servoing control algorithm. More...

bool	set_orientation_gain_switch_tolerance (const double K_o_tol) override
	Set the tolerance, in pixels, at which the orientation control law swithces its gain value. More...

std::vector< std::vector< double > >	get_3D_goal_positions_from_3D_pose (const std::vector< double > &x, const std::vector< double > &o) override
	Helper function: extract four Cartesian points lying on the plane defined by the frame o in the position x relative to the robot base frame. More...

std::vector< std::vector< double > >	get_goal_pixels_from_3D_pose (const std::vector< double > &x, const std::vector< double > &o, const std::string &cam) override
	Helper function: extract four 2D pixel points lying on the plane defined by the frame o in the position x relative to the robot base frame. More...

bool	quit () override
	Gently close the visual servoing device, deallocating resources. More...

bool	stored_init (const std::string &label) override
	Initialize the robot to an initial position. More...

bool	stored_go_to_goal (const std::string &label) override
	Set the robot visual servoing goal. More...

bool	get_goal_from_sfm () override
	Get goal point from SFM module. More...

Private Member Functions
void	decoupledImageBasedVisualServoControl ()

void	robustImageBasedVisualServoControl ()

void	cartesianPositionBasedVisualServoControl ()

bool	setRightArmCartesianController ()

bool	setGazeController ()

bool	setCommandPort ()

bool	setTorsoDOF ()

bool	unsetTorsoDOF ()

std::vector< yarp::sig::Vector >	getPixelsFromPose (const yarp::sig::Vector &pose, const CamSel &cam)

std::vector< yarp::sig::Vector >	getControlPixelsFromPose (const yarp::sig::Vector &pose, const CamSel &cam, const PixelControlMode &mode)

std::vector< yarp::sig::Vector >	getControlPointsFromPose (const yarp::sig::Vector &pose)

yarp::sig::Vector	getPixelFromPoint (const CamSel &cam, const yarp::sig::Vector &p) const

yarp::sig::Vector	getControlPixelFromPoint (const CamSel &cam, const yarp::sig::Vector &p) const

void	getCurrentStereoFeaturesAndJacobian (const std::vector< yarp::sig::Vector > &left_px, const std::vector< yarp::sig::Vector > &right_px, yarp::sig::Vector &features, yarp::sig::Matrix &jacobian)

yarp::sig::Vector	getJacobianU (const CamSel &cam, const yarp::sig::Vector &px)

yarp::sig::Vector	getJacobianV (const CamSel &cam, const yarp::sig::Vector &px)

bool	setCameraTransformations ()

bool	setPoseGoal (const yarp::sig::Vector &goal_x, const yarp::sig::Vector &goal_o)

bool	setPixelGoal (const std::vector< yarp::sig::Vector > &l_px_goal, const std::vector< yarp::sig::Vector > &r_px_goal)

void	backproc_UpdateVisualServoingParamters ()

yarp::sig::Vector	averagePose (const yarp::sig::Vector &l_pose, const yarp::sig::Vector &r_pose) const

bool	checkVisualServoingStatus (const yarp::sig::Vector &px_cur, const double tol)

bool	checkVisualServoingStatus (const yarp::sig::Vector &pose_cur, const double tol_position, const double tol_orientation, const double tol_angle)

void	yInfoVerbose (const yarp::os::ConstString &str) const

void	yWarningVerbose (const yarp::os::ConstString &str) const

void	yErrorVerbose (const yarp::os::ConstString &str) const

yarp::sig::Vector	stdVectorOfVectorsToVector (const std::vector< yarp::sig::Vector > &vectors)

Private Attributes
bool	verbosity_ = false

bool	sim_ = false

yarp::os::ConstString	robot_name_ = "icub"

VisualServoControl	vs_control_ = VisualServoControl::decoupled

OperatingMode	op_mode_ = OperatingMode::pose

yarp::dev::PolyDriver	rightarm_cartesian_driver_

yarp::dev::ICartesianControl *	itf_rightarm_cart_

yarp::dev::PolyDriver	gaze_driver_

yarp::dev::IGazeControl *	itf_gaze_

bool	vs_control_running_ = false

bool	vs_goal_reached_ = false

const double	Ts_ = 0.1

std::array< double, 2 >	K_x_ = {{0.5, 0.25}}

std::array< double, 2 >	K_o_ = {{3.5, 0.5}}

double	max_x_dot_ = 0.035

double	max_o_dot_ = 10.0 * M_PI / 180.0

double	K_x_tol_ = 10.0

double	K_o_tol_ = 10.0

double	K_position_tol_ = 0.03

double	K_orientation_tol_ = 9.0 * M_PI / 180.0

double	K_angle_tol_ = 3.0 * M_PI / 180.0

bool	K_x_hysteresis_ = false

bool	K_o_hysteresis_ = false

bool	K_pose_hysteresis_ = false

double	tol_px_ = 1.0

double	tol_position_ = 0.01

double	tol_orientation_ = 3.0 * M_PI / 180.0

double	tol_angle_ = 1.0 * M_PI / 180.0

double	traj_time_ = 1.0

yarp::sig::Matrix	l_proj_

yarp::sig::Matrix	r_proj_

yarp::sig::Vector	goal_pose_ = yarp::math::zeros(7)

yarp::sig::Vector	px_des_ = yarp::math::zeros(16)

yarp::sig::Matrix	l_H_eye_to_r_ = yarp::math::zeros(4, 4)

yarp::sig::Matrix	r_H_eye_to_r_ = yarp::math::zeros(4, 4)

yarp::sig::Matrix	l_H_r_to_cam_ = yarp::math::zeros(4, 4)

yarp::sig::Matrix	r_H_r_to_cam_ = yarp::math::zeros(4, 4)

std::mutex	mtx_px_des_

std::mutex	mtx_H_eye_cam_

std::thread *	thr_background_update_params_

std::vector< yarp::sig::Vector >	l_px_goal_ = std::vector<yarp::sig::Vector>(4)

std::vector< yarp::sig::Vector >	r_px_goal_ = std::vector<yarp::sig::Vector>(4)

int	ctx_local_cart_

int	ctx_remote_cart_

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_left_in_

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_right_in_

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	port_image_left_in_

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	port_image_left_out_

yarp::os::BufferedPort< yarp::os::Bottle >	port_click_left_

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	port_image_right_in_

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	port_image_right_out_

yarp::os::BufferedPort< yarp::os::Bottle >	port_click_right_

yarp::os::Port	port_rpc_command_

yarp::os::RpcClient	port_rpc_tracker_left_

yarp::os::RpcClient	port_rpc_tracker_right_

bool	is_stopping_backproc_update_vs_params = true

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_px_l_

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_px_r_

yarp::os::BufferedPort< yarp::sig::Vector >	port_kin_px_l_

yarp::os::BufferedPort< yarp::sig::Vector >	port_kin_px_r_

yarp::os::BufferedPort< yarp::sig::Vector >	port_goal_px_l_

yarp::os::BufferedPort< yarp::sig::Vector >	port_goal_px_r_

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_avg_

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_kin_

yarp::os::BufferedPort< yarp::sig::Vector >	port_pose_goal_

Detailed Description

Definition at line 32 of file VisualServoingServer.h.

Member Enumeration Documentation

◆ OperatingMode

enum VisualServoingServer::OperatingMode

strongprotected

Enumerator
position
orientation
pose

Definition at line 174 of file VisualServoingServer.h.

◆ PixelControlMode

enum VisualServoingServer::PixelControlMode

strongprotected

Enumerator
all
x
o

Definition at line 172 of file VisualServoingServer.h.

◆ VisualServoControl

enum VisualServoingServer::VisualServoControl

strongprotected

Enumerator
decoupled
robust
cartesian

Definition at line 170 of file VisualServoingServer.h.

Constructor & Destructor Documentation

◆ VisualServoingServer()

VisualServoingServer::VisualServoingServer ( )

Definition at line 20 of file VisualServoingServer.cpp.

◆ ~VisualServoingServer()

VisualServoingServer::~VisualServoingServer ( )

Definition at line 27 of file VisualServoingServer.cpp.

Member Function Documentation

◆ afterStart()

void VisualServoingServer::afterStart ( bool success )

overrideprotected

Definition at line 1032 of file VisualServoingServer.cpp.

◆ averagePose()

Vector VisualServoingServer::averagePose	(	const yarp::sig::Vector &	l_pose,
		const yarp::sig::Vector &	r_pose
	)		const

private

Definition at line 2818 of file VisualServoingServer.cpp.

References checkVisualServoingStatus().

Here is the call graph for this function:

◆ backproc_UpdateVisualServoingParamters()

void VisualServoingServer::backproc_UpdateVisualServoingParamters ( )

private

Definition at line 2796 of file VisualServoingServer.cpp.

Referenced by threadInit().

◆ beforeStart()

void VisualServoingServer::beforeStart ( )

overrideprotected

Definition at line 986 of file VisualServoingServer.cpp.

◆ cartesianPositionBasedVisualServoControl()

void VisualServoingServer::cartesianPositionBasedVisualServoControl ( )

private

Definition at line 2071 of file VisualServoingServer.cpp.

◆ check_visual_servoing_controller()

bool VisualServoingServer::check_visual_servoing_controller ( )

overrideprotectedvirtual

Check once whether the visual servoing controller is running or not.

Returns: true/false on it is running/not running.

Note: The visual servoing controller may be terminated due to many different reasons, not strictly related to reaching the goal.

Reimplemented from VisualServoingIDL.

Definition at line 1220 of file VisualServoingServer.cpp.

◆ checkVisualServoingController()

bool VisualServoingServer::checkVisualServoingController ( )

override

Definition at line 589 of file VisualServoingServer.cpp.

◆ checkVisualServoingStatus() [1/2]

bool VisualServoingServer::checkVisualServoingStatus	(	const yarp::sig::Vector &	px_cur,
		const double	tol
	)

private

Referenced by averagePose().

◆ checkVisualServoingStatus() [2/2]

bool VisualServoingServer::checkVisualServoingStatus	(	const yarp::sig::Vector &	pose_cur,
		const double	tol_position,
		const double	tol_orientation,
		const double	tol_angle
	)

private

◆ close()

bool VisualServoingServer::close ( )

override

Definition at line 185 of file VisualServoingServer.cpp.

◆ decoupledImageBasedVisualServoControl()

void VisualServoingServer::decoupledImageBasedVisualServoControl ( )

private

Definition at line 1315 of file VisualServoingServer.cpp.

◆ get3DGoalPositionsFrom3DPose()

std::vector< Vector > VisualServoingServer::get3DGoalPositionsFrom3DPose	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o
	)

override

Definition at line 675 of file VisualServoingServer.cpp.

◆ get_3D_goal_positions_from_3D_pose()

std::vector< std::vector< double > > VisualServoingServer::get_3D_goal_positions_from_3D_pose	(	const std::vector< double > &	x,
		const std::vector< double > &	o
	)

overrideprotectedvirtual

Helper function: extract four Cartesian points lying on the plane defined by the frame o in the position x relative to the robot base frame.

Parameters

x	a 3D vector which is filled with the actual position (x, y, z) [m].
o	a 4D vector which is filled with the actual orientation using axis-angle representation (xa, ya, za) and (theta) [rad].

Returns: on success: a collection of four Cartesian points (position only) extracted from the plane defined by x and o; on failure: an empty list.

Note: It is always suggested to check whether the returned list is empty or not and to take proper counter actions.

Reimplemented from VisualServoingIDL.

Definition at line 1274 of file VisualServoingServer.cpp.

◆ get_goal_from_sfm()

bool VisualServoingServer::get_goal_from_sfm ( )

overrideprotectedvirtual

Get goal point from SFM module.

The point is taken by clicking on a dedicated 'yarpview' GUI and the orientation is hard-coded.

Note: This service is experimental and should be used with care.

Returns: true upon success, false otherwise.

Reimplemented from VisualServoingIDL.

Definition at line 1099 of file VisualServoingServer.cpp.

◆ get_goal_pixels_from_3D_pose()

std::vector< std::vector< double > > VisualServoingServer::get_goal_pixels_from_3D_pose	(	const std::vector< double > &	x,
		const std::vector< double > &	o,
		const std::string &	cam
	)

overrideprotectedvirtual

Helper function: extract four 2D pixel points lying on the plane defined by the frame o in the position x relative to the robot base frame.

Parameters

x	a 3D vector which is filled with the actual position (x, y, z) [m].
o	a 4D vector which is filled with the actual orientation using axis-angle representation (xa, ya, za) and (theta) [m]/[rad].
cam	either "left" or "right" to select left or right camera.

Returns: on success: a collection of three (u, v) pixel points extracted from the plane defined by x and o; on failure: an empty list.

Note: It is always suggested to check whether the returned list is empty or not and to take proper counter actions.

Reimplemented from VisualServoingIDL.

Definition at line 1292 of file VisualServoingServer.cpp.

◆ get_visual_servoing_info()

std::vector< std::string > VisualServoingServer::get_visual_servoing_info ( )

overrideprotectedvirtual

Return useful information for visual servoing.

Returns: All the visual servoing information.

Reimplemented from VisualServoingIDL.

Definition at line 1202 of file VisualServoingServer.cpp.

◆ getControlPixelFromPoint()

Vector VisualServoingServer::getControlPixelFromPoint	(	const CamSel &	cam,
		const yarp::sig::Vector &	p
	)		const

private

Definition at line 2626 of file VisualServoingServer.cpp.

◆ getControlPixelsFromPose()

std::vector< Vector > VisualServoingServer::getControlPixelsFromPose	(	const yarp::sig::Vector &	pose,
		const CamSel &	cam,
		const PixelControlMode &	mode
	)

private

Definition at line 2553 of file VisualServoingServer.cpp.

◆ getControlPointsFromPose()

std::vector< Vector > VisualServoingServer::getControlPointsFromPose ( const yarp::sig::Vector & pose )

private

Definition at line 2576 of file VisualServoingServer.cpp.

◆ getCurrentStereoFeaturesAndJacobian()

void VisualServoingServer::getCurrentStereoFeaturesAndJacobian	(	const std::vector< yarp::sig::Vector > &	left_px,
		const std::vector< yarp::sig::Vector > &	right_px,
		yarp::sig::Vector &	features,
		yarp::sig::Matrix &	jacobian
	)

private

Definition at line 2646 of file VisualServoingServer.cpp.

◆ getGoalPixelsFrom3DPose()

std::vector< Vector > VisualServoingServer::getGoalPixelsFrom3DPose	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const CamSel &	cam
	)

override

Definition at line 695 of file VisualServoingServer.cpp.

◆ getJacobianU()

Vector VisualServoingServer::getJacobianU	(	const CamSel &	cam,
		const yarp::sig::Vector &	px
	)

private

Definition at line 2685 of file VisualServoingServer.cpp.

◆ getJacobianV()

Vector VisualServoingServer::getJacobianV	(	const CamSel &	cam,
		const yarp::sig::Vector &	px
	)

private

Definition at line 2710 of file VisualServoingServer.cpp.

◆ getPixelFromPoint()

Vector VisualServoingServer::getPixelFromPoint	(	const CamSel &	cam,
		const yarp::sig::Vector &	p
	)		const

private

Definition at line 2620 of file VisualServoingServer.cpp.

◆ getPixelsFromPose()

std::vector< Vector > VisualServoingServer::getPixelsFromPose	(	const yarp::sig::Vector &	pose,
		const CamSel &	cam
	)

private

Definition at line 2537 of file VisualServoingServer.cpp.

◆ getVisualServoingInfo()

bool VisualServoingServer::getVisualServoingInfo ( yarp::os::Bottle & info )

override

Definition at line 573 of file VisualServoingServer.cpp.

◆ go_to_pose_goal()

bool VisualServoingServer::go_to_pose_goal	(	const std::vector< double > &	vec_x,
		const std::vector< double > &	vec_o
	)

overrideprotectedvirtual

Set the goal point (3D for the position + 4D axis-angle for the orientation) and start visual servoing.

Parameters

vec_x	a 3D vector which contains the (x, y, z) Cartesian coordinates of the goal.
vec_o	a 4D vector which contains the (x, y, z) axis and theta angle of rotation of the goal.

Note: By invoking this method, the visual servoing goal will be reached in position and orientation together with two parallel tasks.

Returns: true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1172 of file VisualServoingServer.cpp.

◆ go_to_px_goal() [1/2]

virtual bool VisualServoingIDL::go_to_px_goal	(	const std::vector< std::vector< double > > &	vec_px_l,
		const std::vector< std::vector< double > > &	vec_px_r
	)

virtualinherited

Set the goal points on both left and right camera image plane and start visual servoing.

Parameters

vec_px_l	a collection of four 2D vectors which contains the (u, v) coordinates of the pixels within the left image plane.
vec_px_r	a collection of four 2D vectors which contains the (u, v) coordinates of the pixels within the right image plane.

Note: By invoking this method, the visual servoing goal will be reached in orientation first, then in position. This is because there may not be a feasible position solution for every possible orientation.

Returns: true/false on success/failure.

◆ go_to_px_goal() [2/2]

bool VisualServoingServer::go_to_px_goal	(	const std::vector< std::vector< double >> &	vec_px_l,
		const std::vector< std::vector< double >> &	vec_px_r
	)

overrideprotected

Definition at line 1145 of file VisualServoingServer.cpp.

◆ goToGoal() [1/2]

bool VisualServoingServer::goToGoal	(	const yarp::sig::Vector &	vec_x,
		const yarp::sig::Vector &	vec_o
	)

override

Referenced by stopFacilities().

◆ goToGoal() [2/2]

bool VisualServoingServer::goToGoal	(	const std::vector< yarp::sig::Vector > &	vec_px_l,
		const std::vector< yarp::sig::Vector > &	vec_px_r
	)

override

◆ goToSFMGoal()

bool VisualServoingServer::goToSFMGoal ( )

override

Definition at line 925 of file VisualServoingServer.cpp.

◆ help()

virtual std::vector<std::string> VisualServoingIDL::help ( const std::string & functionName = "--all" )

virtualinherited

◆ init_facilities()

bool VisualServoingServer::init_facilities ( const bool use_direct_kin )

overrideprotectedvirtual

Initialize support modules and connections to perform a visual servoing task.

This method must be called before any other visual servoing methods. Returns upon successful or failure setup.

Parameters

use_direct_kin instruct the visual servoing control to either use direct kinematic or an estimated/refined pose of the end-effector.

Note: Default value: false. There usually is an error in the robot direct kinematics that should be compensated to perform precise visual servoing. To this end, a recursive Bayesian estimation filter is used to compensate for this error. Such filter is initialized during initialization execution.

Returns: true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1127 of file VisualServoingServer.cpp.

◆ initFacilities()

bool VisualServoingServer::initFacilities ( const bool use_direct_kin )

override

Definition at line 253 of file VisualServoingServer.cpp.

◆ onStop()

void VisualServoingServer::onStop ( )

overrideprotected

Definition at line 1051 of file VisualServoingServer.cpp.

◆ open()

bool VisualServoingServer::open ( yarp::os::Searchable & config )

override

Definition at line 35 of file VisualServoingServer.cpp.

◆ quit()

bool VisualServoingServer::quit ( )

overrideprotectedvirtual

Gently close the visual servoing device, deallocating resources.

Reimplemented from VisualServoingIDL.

Definition at line 1105 of file VisualServoingServer.cpp.

◆ read()

virtual bool VisualServoingIDL::read ( yarp::os::ConnectionReader & connection )

overridevirtualinherited

◆ reset_facilities()

bool VisualServoingServer::reset_facilities ( )

overrideprotectedvirtual

Reset support modules and connections to perform the current initialized visual servoing task.

Returns upon successful or failure setup.

Note: This method also resets the recursive Bayesian estimation filter. It may happen that the recursive Bayesian filter does not provide satisfactory pose estimation or diverges. Thus this method can be used to reset the filter.

Returns: true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1133 of file VisualServoingServer.cpp.

◆ resetFacilities()

bool VisualServoingServer::resetFacilities ( )

override

Definition at line 367 of file VisualServoingServer.cpp.

◆ robustImageBasedVisualServoControl()

void VisualServoingServer::robustImageBasedVisualServoControl ( )

private

Definition at line 1716 of file VisualServoingServer.cpp.

◆ run()

void VisualServoingServer::run ( )

overrideprotected

Definition at line 1021 of file VisualServoingServer.cpp.

◆ set_control_point()

bool VisualServoingServer::set_control_point ( const std::string & point )

overrideprotectedvirtual

Set the point controlled during visual servoing.

Parameters

point label of the point to control.

Returns: true/false on success/failure.

Note: The points available to control are identified by a distinct, unique label. Such labels can are stored in the bottle returned by the getInfo() method.

Reimplemented from VisualServoingIDL.

Definition at line 1196 of file VisualServoingServer.cpp.

◆ set_go_to_goal_tolerance()

bool VisualServoingServer::set_go_to_goal_tolerance ( const double tol )

overrideprotectedvirtual

Set visual servoing goal tolerance.

Parameters

tol	the tolerance in pixel.

Returns: true/false on success/failure.

Note: Default value: 15.0 [pixel].

Reimplemented from VisualServoingIDL.

Definition at line 1214 of file VisualServoingServer.cpp.

◆ set_max_orientation_velocity()

bool VisualServoingServer::set_max_orientation_velocity ( const double max_o_dot )

overrideprotectedvirtual

Set the maximum angular velocity of the axis-angle velocity vector of the visual servoing control algorithm.

Parameters

max_x_dot the maximum allowed angular velocity [rad/s].

Returns: true/false on success/failure.

Note: Default value: 5 * (PI / 180.0) [rad/s].

Reimplemented from VisualServoingIDL.

Definition at line 1262 of file VisualServoingServer.cpp.

◆ set_max_translation_velocity()

bool VisualServoingServer::set_max_translation_velocity ( const double max_x_dot )

overrideprotectedvirtual

Set the maximum translation velocity of the visual servoing control algorithm (same for each axis).

Parameters

max_x_dot the maximum allowed velocity for x, y, z coordinates [m/s].

Returns: true/false on success/failure.

Note: Default value: max_x_dot = 0.025 [m/s].

Reimplemented from VisualServoingIDL.

Definition at line 1244 of file VisualServoingServer.cpp.

◆ set_modality()

bool VisualServoingServer::set_modality ( const std::string & mode )

overrideprotectedvirtual

Set visual servoing operating mode between:

'position': position-only visual servo control;
'orientation': orientation-only visual servo control;
'pose': position + orientation visual servo control.
Parameters

mode a label referring to one of the three operating mode, i.e. 'position', 'orientation' or 'pose'.

Returns
true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1184 of file VisualServoingServer.cpp.

◆ set_orientation_gain()

bool VisualServoingServer::set_orientation_gain	(	const double	K_o_1,
		const double	K_o_2
	)

overrideprotectedvirtual

Set the orientation gains of the visual servoing control algorithm.

The two values are used, respectively, when the end-effector is far away from and close to the goal.

Returns: true/false on success/failure.

Note: Warning: higher values of the gain corresponds to higher orientation velocities and oscillation about the goal.; Default values: K_o_1 = 1.5, K_o_2 = 0.375.

Reimplemented from VisualServoingIDL.

Definition at line 1256 of file VisualServoingServer.cpp.

◆ set_orientation_gain_switch_tolerance()

bool VisualServoingServer::set_orientation_gain_switch_tolerance ( const double K_o_tol )

overrideprotectedvirtual

Set the tolerance, in pixels, at which the orientation control law swithces its gain value.

Returns: true/false on success/failure.

Note: Default value: K_o_tol = 30.0 [pixel].

Reimplemented from VisualServoingIDL.

Definition at line 1268 of file VisualServoingServer.cpp.

◆ set_translation_gain()

bool VisualServoingServer::set_translation_gain	(	const double	K_x_1,
		const double	K_x_2
	)

overrideprotectedvirtual

Set the translation gains of the visual servoing control algorithm.

The two values are used, respectively, when the end-effector is far away from and close to the goal.

Returns: true/false on success/failure.

Note: Warning: higher values of the gain corresponds to higher translation velocities and oscillation about the goal.; Default values: K_x_1 = 1.0, K_x_2 = 0.25.

Reimplemented from VisualServoingIDL.

Definition at line 1238 of file VisualServoingServer.cpp.

◆ set_translation_gain_switch_tolerance()

bool VisualServoingServer::set_translation_gain_switch_tolerance ( const double K_x_tol )

overrideprotectedvirtual

Set the tolerance, in pixels, at which the translation control law swithces its gain value.

Returns: true/false on success/failure.

Note: Default value: K_x_tol = 30.0 [pixel].

Reimplemented from VisualServoingIDL.

Definition at line 1250 of file VisualServoingServer.cpp.

◆ set_visual_servo_control()

bool VisualServoingServer::set_visual_servo_control ( const std::string & control )

overrideprotectedvirtual

Set visual servo control law between:

'decoupled': image-based visual servoing with decoupled position and orientation control law, the control law was proposed in [1];
'robust': image-based visual servoing with averaged image Jacobians, the control law was proposed in [2];
Parameters

mode a label referring to one of the three visual servo controls, i.e. 'position', 'orientation' or 'pose'.

Note
[1] C. Fantacci, G. Vezzani, U. Pattacini, V. Tikhanoff and L. Natale, "Precise markerless visual servoing on unknown objects for humanoid robot platforms", to appear. [2] E. Malis, “Improving vision-based control using efficient second-order minimization techniques”, IEEE ICRA, vol. 2, p. 1843–1848, 2004.

Returns
true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1190 of file VisualServoingServer.cpp.

◆ setCameraTransformations()

bool VisualServoingServer::setCameraTransformations ( )

private

Definition at line 2735 of file VisualServoingServer.cpp.

◆ setCommandPort()

bool VisualServoingServer::setCommandPort ( )

private

Definition at line 2457 of file VisualServoingServer.cpp.

◆ setControlPoint()

bool VisualServoingServer::setControlPoint ( const yarp::os::ConstString & point )

override

Definition at line 565 of file VisualServoingServer.cpp.

◆ setGazeController()

bool VisualServoingServer::setGazeController ( )

private

Definition at line 2430 of file VisualServoingServer.cpp.

◆ setGoToGoalTolerance()

bool VisualServoingServer::setGoToGoalTolerance ( const double tol = 15.0 )

override

Definition at line 581 of file VisualServoingServer.cpp.

◆ setMaxOrientationVelocity()

bool VisualServoingServer::setMaxOrientationVelocity ( const double max_o_dot )

override

Definition at line 659 of file VisualServoingServer.cpp.

◆ setMaxTranslationVelocity()

bool VisualServoingServer::setMaxTranslationVelocity ( const double max_x_dot )

override

Definition at line 634 of file VisualServoingServer.cpp.

◆ setModality()

bool VisualServoingServer::setModality ( const std::string & mode )

override

Definition at line 535 of file VisualServoingServer.cpp.

◆ setOrientationGain()

bool VisualServoingServer::setOrientationGain	(	const double	K_x_1 = `1.5`,
		const double	K_x_2 = `0.375`
	)

override

Definition at line 650 of file VisualServoingServer.cpp.

◆ setOrientationGainSwitchTolerance()

bool VisualServoingServer::setOrientationGainSwitchTolerance ( const double K_o_tol = 30.0 )

override

Definition at line 667 of file VisualServoingServer.cpp.

◆ setPixelGoal()

bool VisualServoingServer::setPixelGoal	(	const std::vector< yarp::sig::Vector > &	l_px_goal,
		const std::vector< yarp::sig::Vector > &	r_px_goal
	)

private

Definition at line 2776 of file VisualServoingServer.cpp.

◆ setPoseGoal()

bool VisualServoingServer::setPoseGoal	(	const yarp::sig::Vector &	goal_x,
		const yarp::sig::Vector &	goal_o
	)

private

Definition at line 2767 of file VisualServoingServer.cpp.

◆ setRightArmCartesianController()

bool VisualServoingServer::setRightArmCartesianController ( )

private

Definition at line 2353 of file VisualServoingServer.cpp.

◆ setTorsoDOF()

bool VisualServoingServer::setTorsoDOF ( )

private

Definition at line 2491 of file VisualServoingServer.cpp.

◆ setTranslationGain()

bool VisualServoingServer::setTranslationGain	(	const double	K_x_1 = `1.0`,
		const double	K_x_2 = `0.25`
	)

override

Definition at line 625 of file VisualServoingServer.cpp.

◆ setTranslationGainSwitchTolerance()

bool VisualServoingServer::setTranslationGainSwitchTolerance ( const double K_x_tol = 30.0 )

override

Definition at line 642 of file VisualServoingServer.cpp.

◆ setVisualServoControl()

bool VisualServoingServer::setVisualServoControl ( const std::string & control )

override

Definition at line 550 of file VisualServoingServer.cpp.

◆ stdVectorOfVectorsToVector()

Vector VisualServoingServer::stdVectorOfVectorsToVector ( const std::vector< yarp::sig::Vector > & vectors )

private

Definition at line 2863 of file VisualServoingServer.cpp.

Referenced by yErrorVerbose().

◆ stop_controller()

bool VisualServoingServer::stop_controller ( )

overrideprotectedvirtual

Ask for an immediate stop of the visual servoing controller.

[wait for reply]

Returns: true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1232 of file VisualServoingServer.cpp.

◆ stop_facilities()

bool VisualServoingServer::stop_facilities ( )

overrideprotectedvirtual

Stop and disconnect support modules and connections used for visual servoing.

This method must be called when visual servoing is no longer needed or a new visual servoing task need to be initialized.

Note: This method also stops the recursive Bayesian estimation filter. Thus it is suggested to call this method every time visual servoing has been completed/interrupted to have the filter stopped and initialized again during the next init call.

Returns: true/false on success/failure.

Reimplemented from VisualServoingIDL.

Definition at line 1139 of file VisualServoingServer.cpp.

◆ stopController()

bool VisualServoingServer::stopController ( )

override

Definition at line 613 of file VisualServoingServer.cpp.

◆ stopFacilities()

bool VisualServoingServer::stopFacilities ( )

override

Definition at line 402 of file VisualServoingServer.cpp.

References goToGoal().

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◆ stored_go_to_goal()

bool VisualServoingServer::stored_go_to_goal ( const std::string & label )

overrideprotectedvirtual

Set the robot visual servoing goal.

The goals are stored on an external file and are referenced by a unique label.

Parameters

label a label referring to one of the available goals; the string shall be one of the available modes returned by the get_info() method.

Returns: true upon success, false otherwise.

Reimplemented from VisualServoingIDL.

Definition at line 1093 of file VisualServoingServer.cpp.

◆ stored_init()

bool VisualServoingServer::stored_init ( const std::string & label )

overrideprotectedvirtual

Initialize the robot to an initial position.

The initial positions are stored on an external file and are referenced by a unique label.

Parameters

label a label referring to one of the available initial positions; the string shall be one of the available modes returned by the get_info() method.

Returns: true upon success, false otherwise.

Reimplemented from VisualServoingIDL.

Definition at line 1087 of file VisualServoingServer.cpp.

◆ storedGoToGoal()

bool VisualServoingServer::storedGoToGoal ( const std::string & label )

override

Definition at line 846 of file VisualServoingServer.cpp.

◆ storedInit()

bool VisualServoingServer::storedInit ( const std::string & label )

override

Definition at line 718 of file VisualServoingServer.cpp.

◆ threadInit()

bool VisualServoingServer::threadInit ( )

overrideprotected

Definition at line 992 of file VisualServoingServer.cpp.

References backproc_UpdateVisualServoingParamters().

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◆ threadRelease()

void VisualServoingServer::threadRelease ( )

overrideprotected

Definition at line 1057 of file VisualServoingServer.cpp.

◆ unsetTorsoDOF()

bool VisualServoingServer::unsetTorsoDOF ( )

private

Definition at line 2514 of file VisualServoingServer.cpp.

◆ wait_visual_servoing_done()

bool VisualServoingServer::wait_visual_servoing_done	(	const double	period,
		const double	timeout
	)

overrideprotectedvirtual

Wait until visual servoing reaches the goal.

[wait for reply]

Parameters

period	the check time period [s].
timeout	the check expiration time [s]. If timeout <= 0 (as by default) the check will be performed without time limitation.

Returns: true for success, false for failure and timeout expired.

Note: The tolerance to which the goal is considered achieved can be set with the method setGoToGoalTolerance().; Default values: period 0.1 [s], timeout 0.0 [s].

Reimplemented from VisualServoingIDL.

Definition at line 1226 of file VisualServoingServer.cpp.

◆ waitVisualServoingDone()

bool VisualServoingServer::waitVisualServoingDone	(	const double	period = `0.1`,
		const double	timeout = `0.0`
	)

override

Definition at line 601 of file VisualServoingServer.cpp.

◆ yErrorVerbose()

void VisualServoingServer::yErrorVerbose ( const yarp::os::ConstString & str ) const

inlineprivate

Definition at line 300 of file VisualServoingServer.h.

References stdVectorOfVectorsToVector().

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◆ yInfoVerbose()

void VisualServoingServer::yInfoVerbose ( const yarp::os::ConstString & str ) const

inlineprivate

Definition at line 298 of file VisualServoingServer.h.

◆ yWarningVerbose()

void VisualServoingServer::yWarningVerbose ( const yarp::os::ConstString & str ) const

inlineprivate

Definition at line 299 of file VisualServoingServer.h.

Member Data Documentation

◆ ctx_local_cart_

int VisualServoingServer::ctx_local_cart_

private

Definition at line 229 of file VisualServoingServer.h.

◆ ctx_remote_cart_

int VisualServoingServer::ctx_remote_cart_

private

Definition at line 230 of file VisualServoingServer.h.

◆ gaze_driver_

yarp::dev::PolyDriver VisualServoingServer::gaze_driver_

private

Definition at line 187 of file VisualServoingServer.h.

◆ goal_pose_

yarp::sig::Vector VisualServoingServer::goal_pose_ = yarp::math::zeros(7)

private

Definition at line 214 of file VisualServoingServer.h.

◆ is_stopping_backproc_update_vs_params

bool VisualServoingServer::is_stopping_backproc_update_vs_params = true

private

Definition at line 288 of file VisualServoingServer.h.

◆ itf_gaze_

yarp::dev::IGazeControl* VisualServoingServer::itf_gaze_

private

Definition at line 188 of file VisualServoingServer.h.

◆ itf_rightarm_cart_

yarp::dev::ICartesianControl* VisualServoingServer::itf_rightarm_cart_

private

Definition at line 185 of file VisualServoingServer.h.

◆ K_angle_tol_

double VisualServoingServer::K_angle_tol_ = 3.0 * M_PI / 180.0

private

Definition at line 201 of file VisualServoingServer.h.

◆ K_o_

std::array<double, 2> VisualServoingServer::K_o_ = {{3.5, 0.5}}

private

Definition at line 194 of file VisualServoingServer.h.

◆ K_o_hysteresis_

bool VisualServoingServer::K_o_hysteresis_ = false

private

Definition at line 203 of file VisualServoingServer.h.

◆ K_o_tol_

double VisualServoingServer::K_o_tol_ = 10.0

private

Definition at line 198 of file VisualServoingServer.h.

◆ K_orientation_tol_

double VisualServoingServer::K_orientation_tol_ = 9.0 * M_PI / 180.0

private

Definition at line 200 of file VisualServoingServer.h.

◆ K_pose_hysteresis_

bool VisualServoingServer::K_pose_hysteresis_ = false

private

Definition at line 204 of file VisualServoingServer.h.

◆ K_position_tol_

double VisualServoingServer::K_position_tol_ = 0.03

private

Definition at line 199 of file VisualServoingServer.h.

◆ K_x_

std::array<double, 2> VisualServoingServer::K_x_ = {{0.5, 0.25}}

private

Definition at line 193 of file VisualServoingServer.h.

◆ K_x_hysteresis_

bool VisualServoingServer::K_x_hysteresis_ = false

private

Definition at line 202 of file VisualServoingServer.h.

◆ K_x_tol_

double VisualServoingServer::K_x_tol_ = 10.0

private

Definition at line 197 of file VisualServoingServer.h.

◆ l_H_eye_to_r_

yarp::sig::Matrix VisualServoingServer::l_H_eye_to_r_ = yarp::math::zeros(4, 4)

private

Definition at line 216 of file VisualServoingServer.h.

◆ l_H_r_to_cam_

yarp::sig::Matrix VisualServoingServer::l_H_r_to_cam_ = yarp::math::zeros(4, 4)

private

Definition at line 218 of file VisualServoingServer.h.

◆ l_proj_

yarp::sig::Matrix VisualServoingServer::l_proj_

private

Definition at line 211 of file VisualServoingServer.h.

◆ l_px_goal_

std::vector<yarp::sig::Vector> VisualServoingServer::l_px_goal_ = std::vector<yarp::sig::Vector>(4)

private

Definition at line 226 of file VisualServoingServer.h.

◆ max_o_dot_

double VisualServoingServer::max_o_dot_ = 10.0 * M_PI / 180.0

private

Definition at line 196 of file VisualServoingServer.h.

◆ max_x_dot_

double VisualServoingServer::max_x_dot_ = 0.035

private

Definition at line 195 of file VisualServoingServer.h.

◆ mtx_H_eye_cam_

std::mutex VisualServoingServer::mtx_H_eye_cam_

private

Definition at line 222 of file VisualServoingServer.h.

◆ mtx_px_des_

std::mutex VisualServoingServer::mtx_px_des_

private

Definition at line 221 of file VisualServoingServer.h.

◆ op_mode_

OperatingMode VisualServoingServer::op_mode_ = OperatingMode::pose

private

Definition at line 182 of file VisualServoingServer.h.

◆ port_click_left_

yarp::os::BufferedPort<yarp::os::Bottle> VisualServoingServer::port_click_left_

private

Definition at line 237 of file VisualServoingServer.h.

◆ port_click_right_

yarp::os::BufferedPort<yarp::os::Bottle> VisualServoingServer::port_click_right_

private

Definition at line 241 of file VisualServoingServer.h.

◆ port_goal_px_l_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_goal_px_l_

private

Definition at line 310 of file VisualServoingServer.h.

◆ port_goal_px_r_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_goal_px_r_

private

Definition at line 311 of file VisualServoingServer.h.

◆ port_image_left_in_

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > VisualServoingServer::port_image_left_in_

private

Definition at line 235 of file VisualServoingServer.h.

◆ port_image_left_out_

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > VisualServoingServer::port_image_left_out_

private

Definition at line 236 of file VisualServoingServer.h.

◆ port_image_right_in_

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > VisualServoingServer::port_image_right_in_

private

Definition at line 239 of file VisualServoingServer.h.

◆ port_image_right_out_

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > VisualServoingServer::port_image_right_out_

private

Definition at line 240 of file VisualServoingServer.h.

◆ port_kin_px_l_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_kin_px_l_

private

Definition at line 307 of file VisualServoingServer.h.

◆ port_kin_px_r_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_kin_px_r_

private

Definition at line 308 of file VisualServoingServer.h.

◆ port_pose_avg_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_avg_

private

Definition at line 313 of file VisualServoingServer.h.

◆ port_pose_goal_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_goal_

private

Definition at line 315 of file VisualServoingServer.h.

◆ port_pose_kin_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_kin_

private

Definition at line 314 of file VisualServoingServer.h.

◆ port_pose_left_in_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_left_in_

private

Definition at line 232 of file VisualServoingServer.h.

◆ port_pose_px_l_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_px_l_

private

Definition at line 304 of file VisualServoingServer.h.

◆ port_pose_px_r_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_px_r_

private

Definition at line 305 of file VisualServoingServer.h.

◆ port_pose_right_in_

yarp::os::BufferedPort<yarp::sig::Vector> VisualServoingServer::port_pose_right_in_

private

Definition at line 233 of file VisualServoingServer.h.

◆ port_rpc_command_

yarp::os::Port VisualServoingServer::port_rpc_command_

private

Definition at line 243 of file VisualServoingServer.h.

◆ port_rpc_tracker_left_

yarp::os::RpcClient VisualServoingServer::port_rpc_tracker_left_

private

Definition at line 244 of file VisualServoingServer.h.

◆ port_rpc_tracker_right_

yarp::os::RpcClient VisualServoingServer::port_rpc_tracker_right_

private

Definition at line 245 of file VisualServoingServer.h.

◆ px_des_

yarp::sig::Vector VisualServoingServer::px_des_ = yarp::math::zeros(16)

private

Definition at line 215 of file VisualServoingServer.h.

◆ r_H_eye_to_r_

yarp::sig::Matrix VisualServoingServer::r_H_eye_to_r_ = yarp::math::zeros(4, 4)

private

Definition at line 217 of file VisualServoingServer.h.

◆ r_H_r_to_cam_

yarp::sig::Matrix VisualServoingServer::r_H_r_to_cam_ = yarp::math::zeros(4, 4)

private

Definition at line 219 of file VisualServoingServer.h.

◆ r_proj_

yarp::sig::Matrix VisualServoingServer::r_proj_

private

Definition at line 212 of file VisualServoingServer.h.

◆ r_px_goal_

std::vector<yarp::sig::Vector> VisualServoingServer::r_px_goal_ = std::vector<yarp::sig::Vector>(4)

private

Definition at line 227 of file VisualServoingServer.h.

◆ rightarm_cartesian_driver_

yarp::dev::PolyDriver VisualServoingServer::rightarm_cartesian_driver_

private

Definition at line 184 of file VisualServoingServer.h.

◆ robot_name_

yarp::os::ConstString VisualServoingServer::robot_name_ = "icub"

private

Definition at line 179 of file VisualServoingServer.h.

◆ sim_

bool VisualServoingServer::sim_ = false

private

Definition at line 178 of file VisualServoingServer.h.

◆ thr_background_update_params_

std::thread* VisualServoingServer::thr_background_update_params_

private

Definition at line 224 of file VisualServoingServer.h.

◆ tol_angle_

double VisualServoingServer::tol_angle_ = 1.0 * M_PI / 180.0

private

Definition at line 208 of file VisualServoingServer.h.

◆ tol_orientation_

double VisualServoingServer::tol_orientation_ = 3.0 * M_PI / 180.0

private

Definition at line 207 of file VisualServoingServer.h.

◆ tol_position_

double VisualServoingServer::tol_position_ = 0.01

private

Definition at line 206 of file VisualServoingServer.h.

◆ tol_px_

double VisualServoingServer::tol_px_ = 1.0

private

Definition at line 205 of file VisualServoingServer.h.

◆ traj_time_

double VisualServoingServer::traj_time_ = 1.0

private

Definition at line 209 of file VisualServoingServer.h.

◆ Ts_

const double VisualServoingServer::Ts_ = 0.1

private

Definition at line 192 of file VisualServoingServer.h.

◆ verbosity_

bool VisualServoingServer::verbosity_ = false

private

Definition at line 177 of file VisualServoingServer.h.

◆ vs_control_

VisualServoControl VisualServoingServer::vs_control_ = VisualServoControl::decoupled

private

Definition at line 181 of file VisualServoingServer.h.

◆ vs_control_running_

bool VisualServoingServer::vs_control_running_ = false

private

Definition at line 190 of file VisualServoingServer.h.

◆ vs_goal_reached_

bool VisualServoingServer::vs_goal_reached_ = false

private

Definition at line 191 of file VisualServoingServer.h.

The documentation for this class was generated from the following files:

/Users/Claudio/GitHub/visual-tracking-control/src/visualservoing/visualservoingserver/include/VisualServoingServer.h
/Users/Claudio/GitHub/visual-tracking-control/src/visualservoing/visualservoingserver/src/VisualServoingServer.cpp

Public Member Functions

Protected Types

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ OperatingMode

◆ PixelControlMode

◆ VisualServoControl

Constructor & Destructor Documentation

◆ VisualServoingServer()

◆ ~VisualServoingServer()

Member Function Documentation

◆ afterStart()

◆ averagePose()

◆ backproc_UpdateVisualServoingParamters()

◆ beforeStart()

◆ cartesianPositionBasedVisualServoControl()

◆ check_visual_servoing_controller()

◆ checkVisualServoingController()

◆ checkVisualServoingStatus() [1/2]

◆ checkVisualServoingStatus() [2/2]

◆ close()

◆ decoupledImageBasedVisualServoControl()

◆ get3DGoalPositionsFrom3DPose()

◆ get_3D_goal_positions_from_3D_pose()

◆ get_goal_from_sfm()

◆ get_goal_pixels_from_3D_pose()

◆ get_visual_servoing_info()

◆ getControlPixelFromPoint()

◆ getControlPixelsFromPose()

◆ getControlPointsFromPose()

◆ getCurrentStereoFeaturesAndJacobian()

◆ getGoalPixelsFrom3DPose()

◆ getJacobianU()

◆ getJacobianV()

◆ getPixelFromPoint()

◆ getPixelsFromPose()

◆ getVisualServoingInfo()

◆ go_to_pose_goal()

◆ go_to_px_goal() [1/2]

◆ go_to_px_goal() [2/2]

◆ goToGoal() [1/2]

◆ goToGoal() [2/2]

◆ goToSFMGoal()

◆ help()

◆ init_facilities()

◆ initFacilities()

◆ onStop()

◆ open()

◆ quit()

◆ read()

◆ reset_facilities()

◆ resetFacilities()

◆ robustImageBasedVisualServoControl()

◆ run()

◆ set_control_point()

◆ set_go_to_goal_tolerance()

◆ set_max_orientation_velocity()

◆ set_max_translation_velocity()

◆ set_modality()

◆ set_orientation_gain()

◆ set_orientation_gain_switch_tolerance()

◆ set_translation_gain()

◆ set_translation_gain_switch_tolerance()

◆ set_visual_servo_control()

◆ setCameraTransformations()

◆ setCommandPort()

◆ setControlPoint()

◆ setGazeController()

◆ setGoToGoalTolerance()

◆ setMaxOrientationVelocity()

◆ setMaxTranslationVelocity()

◆ setModality()

◆ setOrientationGain()

◆ setOrientationGainSwitchTolerance()

◆ setPixelGoal()

◆ setPoseGoal()

◆ setRightArmCartesianController()