Creation of Makefile
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#if defined(__linux__) || defined(__APPLE__)
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#include <fcntl.h>
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#include <getopt.h>
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#include <termios.h>
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#define STDIN_FILENO 0
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#elif defined(_WIN32) || defined(_WIN64)
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#include <conio.h>
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#endif
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#define _USE_MATH_DEFINES
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#include <cmath>
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// standard includes
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#include <stdio.h>
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#include <stdlib.h>
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#include <string>
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#include <iostream>
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#include <vector>
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// dynamixel sdk include
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#include "dynamixel_sdk/dynamixel_sdk.h"
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// addresses of variables in the register
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#define ADDR_XL320_CONTROL_MODE 11
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#define ADDR_XL320_TORQUE_ENABLE 24
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#define ADDR_XL320_GOAL_POSITION 30
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#define ADDR_XL320_GOAL_VELOCITY 32
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#define ADDR_XL320_PRESENT_POSITION 37
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#define ADDR_XL320_PRESENT_VELOCITY 39
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#define ADDR_XL320_HARDWARE_ERROR_STATUS 50
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// rotation direction
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#define ROT_DIRECTION_Q1 1
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#define ROT_DIRECTION_Q2 -1
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#define ROT_DIRECTION_QPEN 1
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// nb of joints
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#define NB_JOINTS 3
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class DynamixelHandler
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{
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public:
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DynamixelHandler();
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~DynamixelHandler();
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public:
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bool openPort();
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void closePort();
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bool setBaudRate(int);
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void setDeviceName(std::string);
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void setProtocolVersion(float);
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bool enableTorque(bool);
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bool setControlMode(int iControlMode);
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bool readCurrentJointPosition(std::vector<uint16_t>& vCurrentJointPosition);
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bool readCurrentJointPosition(std::vector<float>& vCurrentJointPosition);
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bool sendTargetJointPosition(std::vector<uint16_t>& vTargetJointPosition);
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bool sendTargetJointPosition(std::vector<float>& vTargetJointPosition);
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bool sendTargetJointVelocity(std::vector<uint16_t>& vTargetJointVelocity);
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bool sendTargetJointVelocity(std::vector<float>& vTargetJointVelocity);
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int convertAngleToJointCmd(float fJointAngle);
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float convertJointCmdToAngle(int iJointCmd);
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int convertJointVelocityToJointCmd(float fJointVelocity);
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private:
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std::string m_sDeviceName;
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float m_fProtocolVersion;
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int m_i32BaudRate;
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dynamixel::PortHandler* m_pPortHandler;
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dynamixel::PacketHandler* m_pPacketHandler;
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bool m_bIsDeviceNameSet;
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bool m_bIsProtocolVersionSet;
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bool m_bIsPortOpened;
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bool m_bIsBaudRateSet;
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int m_i32DxlCommunicationResult; // Communication result
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uint8_t m_ui8DxlError; // Dynamixel error
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std::vector<uint16_t> m_vDxlCurrentPosition; // Present position
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float m_fMinJointCmd = 0;
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float m_fMaxJointCmd = 1023;
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float m_fMinJointAngle = -150.0f/180.0f*M_PI;
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float m_fMaxJointAngle = 150.0f/180.0f*M_PI;
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};
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#include <iostream>
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#include <vector>
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/highgui.hpp"
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#include "opencv2/imgproc.hpp"
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#include "DynamixelHandler.h"
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#include "Kinematics.h"
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// ImageProcessing
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#define thresholdValue 200
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#define maxValue 255
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//ConvertContours
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#define drawingAreaWidthInMm 80.0
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#define drawingAreaHeigthInMm 50.0
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// SendContours
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#define deltaTBetweenSamples 500 //in ms
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#define incrementBetweenSamples 2
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std::vector<std::vector<cv::Point>> imageProcessing(cv::Mat originalImage);
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std::vector<std::vector<float>> convertContoursPixel2Mm(std::vector<std::vector<cv::Point>> vContoursInPixel, float theta, float tx, float ty, int imageWidth, int imageHeight);
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void sendContours(std::vector<std::vector<cv::Point>> vContoursInPixel, std::vector<std::vector<float>> vContoursInMm, DynamixelHandler& dxlHandler, float L1, float L2);
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#define _USE_MATH_DEFINES
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#include <cmath>
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#include <vector>
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#include <iostream>
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#include "opencv2/opencv.hpp"
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float deg2rad(float angle);
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float rad2deg(float angle);
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std::vector<float> computeForwardKinematics(float q1, float q2, float L1, float L2);
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int computeJacobianMatrixRank(std::vector<float> vJacobianMatrix, float threshold);
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cv::Mat computeInverseJacobianMatrix(std::vector<float> vJacobianMatrix);
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all: kinematics dynamics joint
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g++ -o bin/jointControl lib/jointControl.o lib/Kinematics.o lib/DynamixelHandler.o -L/usr/local/lib/ -ldxl_x64_cpp -lrt -L/usr/lib/x86_64-linux-gnu `pkg-config --libs opencv4`
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kinematics: src/Kinematics.cpp
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g++ -c src/Kinematics.cpp -o lib/Kinematics.o -I./include -I/usr/include/opencv4
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joint: src/jointControl.cpp
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g++ -c src/jointControl.cpp -o lib/jointControl.o -I./include -I/usr/include/opencv4
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image: src/ImageProcessing.cpp
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g++ -c src/ImageProcessing.cpp -o lib/ImageProcessing.o -I./include -I/usr/include/opencv4
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dynamics: src/DynamixelHandler.cpp
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g++ -c src/DynamixelHandler.cpp -o lib/DynamixelHandler.o -I./include -I/usr/local/include
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clean:
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rm lib/*.o
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rm bin/*
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#include "DynamixelHandler.h"
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DynamixelHandler::DynamixelHandler():
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m_sDeviceName(""), m_fProtocolVersion(0.0), m_i32BaudRate(0),
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m_pPacketHandler(nullptr), m_pPortHandler(nullptr),
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m_bIsDeviceNameSet(false), m_bIsProtocolVersionSet(false), m_bIsPortOpened(false), m_bIsBaudRateSet(false),
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m_ui8DxlError(0), m_i32DxlCommunicationResult(COMM_TX_FAIL)
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{
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}
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DynamixelHandler::~DynamixelHandler()
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{
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}
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int DynamixelHandler::convertJointVelocityToJointCmd(float fJointVelocity)
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{
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if (fJointVelocity == 0.0f)
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return 0;
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float a = 0.0f;
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float b = 0.0f;
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if (fJointVelocity>0)
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{
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float l_fMaxJointCmd = 1023;
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float l_fMinJointCmd = 0;
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float l_fMaxJointVelocity = 114 * 60.0f * 2 * M_PI;
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float l_fMinJointAngle = 0.0f;
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// y = ax + b
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a = (l_fMaxJointCmd-l_fMinJointCmd) / (l_fMaxJointVelocity - l_fMinJointAngle);
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b = l_fMinJointCmd - a * l_fMinJointAngle;
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}
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if (fJointVelocity<0)
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{
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float l_fMaxJointCmd = 2047;
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float l_fMinJointCmd = 1024;
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float l_fMaxJointVelocity = 0.0f;
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float l_fMinJointAngle = -114 * 60.0f * 2 * M_PI;
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// y = ax + b
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a = (l_fMaxJointCmd-l_fMinJointCmd) / (l_fMaxJointVelocity - l_fMinJointAngle);
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b = l_fMinJointCmd - a * l_fMinJointAngle;
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}
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float jointCmd = a * fJointVelocity + b;
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return (int)jointCmd;
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}
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int DynamixelHandler::convertAngleToJointCmd(float fJointAngle)
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{
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// y = ax + b
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float a = (m_fMaxJointCmd-m_fMinJointCmd) / (m_fMaxJointAngle - m_fMinJointAngle);
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float b = m_fMinJointCmd - a * m_fMinJointAngle;
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float jointCmd = a * fJointAngle + b;
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return (int)jointCmd;
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}
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float DynamixelHandler::convertJointCmdToAngle(int iJointCmd)
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{
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// y = ax + b
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float a = (m_fMaxJointAngle - m_fMinJointAngle) / (m_fMaxJointCmd-m_fMinJointCmd);
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float b = m_fMinJointAngle - a * m_fMinJointCmd;
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float jointAngle = a * iJointCmd + b;
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return jointAngle;
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}
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bool DynamixelHandler::openPort()
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{
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if (m_pPortHandler == nullptr)
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{
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std::cout << "[ERROR](DynamixelHandler::openPort) m_pPortHandler is null!" << std::endl;
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m_bIsPortOpened = false;
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return m_bIsPortOpened;
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}
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if (!m_bIsDeviceNameSet)
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{
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std::cout << "[ERROR](DynamixelHandler::openPort) m_sDeviceName is not set!" << std::endl;
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m_bIsPortOpened = false;
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return m_bIsPortOpened;
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}
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if (m_bIsPortOpened)
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{
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std::cout << "[WARNING](DynamixelHandler::openPort) port is already opened!" << std::endl;
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return m_bIsPortOpened;
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}
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if (m_pPortHandler->openPort())
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{
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std::cout << "[INFO](DynamixelHandler::openPort) Succeeded to open the port!" << std::endl;
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m_bIsPortOpened = true;
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}
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else
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{
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std::cout << "[ERROR](DynamixelHandler::openPort) Failed to open the port!" << std::endl;
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m_bIsPortOpened = false;
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}
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return m_bIsPortOpened;
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}
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void DynamixelHandler::closePort()
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{
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if (m_pPortHandler == nullptr)
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{
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std::cout << "[ERROR](DynamixelHandler::closePort) m_pPortHandler is null!" << std::endl;
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m_bIsPortOpened = false;
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return;
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}
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if (!m_bIsPortOpened)
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{
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std::cout << "[WARNING](DynamixelHandler::openPort) port is already closed!" << std::endl;
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return;
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}
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m_pPortHandler->closePort();
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std::cout << "[INFO](DynamixelHandler::closePort) Succeeded to close the port!" << std::endl;
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m_bIsPortOpened = false;
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}
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bool DynamixelHandler::setBaudRate(int i32BaudRate)
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{
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m_i32BaudRate = i32BaudRate;
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if (nullptr != m_pPortHandler)
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{
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if (m_pPortHandler->setBaudRate(m_i32BaudRate))
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{
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std::cout << "[INFO](DynamixelHandler::setBaudRate) Succeeded to change the baudrate!" << std::endl;
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m_bIsBaudRateSet = true;
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}
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else
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{
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std::cout << "[ERROR](DynamixelHandler::setBaudRate) Failed to change the baudrate!" << std::endl;
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m_bIsBaudRateSet = false;
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}
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}
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else
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{
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std::cout << "[ERROR](DynamixelHandler::setBaudRate) m_pPortHandler is null!" << std::endl;
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m_bIsBaudRateSet = false;
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}
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return m_bIsBaudRateSet;
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}
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void DynamixelHandler::setDeviceName(std::string sDeviceName)
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{
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m_sDeviceName = sDeviceName;
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m_bIsDeviceNameSet = true;
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if (nullptr != m_pPortHandler)
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{
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delete m_pPortHandler;
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m_pPortHandler = nullptr;
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}
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// Initialize PortHandler instance
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m_pPortHandler = dynamixel::PortHandler::getPortHandler(m_sDeviceName.c_str());
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}
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void DynamixelHandler::setProtocolVersion(float fProtocolVersion)
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{
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m_fProtocolVersion = fProtocolVersion;
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m_bIsProtocolVersionSet = true;
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if (nullptr != m_pPacketHandler)
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{
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delete m_pPacketHandler;
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m_pPacketHandler = nullptr;
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}
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m_pPacketHandler = dynamixel::PacketHandler::getPacketHandler(m_fProtocolVersion);
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}
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bool DynamixelHandler::readCurrentJointPosition(std::vector<float>& vCurrentJointPosition)
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{
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// Creates a vector of joint position
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std::vector<uint16_t> l_vCurrentJointPosition;
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// Reads the current joint positions in motor command unit
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bool bIsReadSuccessfull = this->readCurrentJointPosition(l_vCurrentJointPosition);
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//std::cout << "l_vCurrentJointPosition= " << l_vCurrentJointPosition[0] << ", " << l_vCurrentJointPosition[1] << ", " << l_vCurrentJointPosition[2]<< std::endl;
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// q1
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vCurrentJointPosition.push_back(ROT_DIRECTION_Q1*convertJointCmdToAngle(l_vCurrentJointPosition[0]));
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// qpen
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vCurrentJointPosition.push_back(ROT_DIRECTION_QPEN*convertJointCmdToAngle(l_vCurrentJointPosition[1]));
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// q2
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vCurrentJointPosition.push_back(ROT_DIRECTION_Q2*convertJointCmdToAngle(l_vCurrentJointPosition[2]));
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//std::cout << "vCurrentJointPosition= " << vCurrentJointPosition[0] << ", " << vCurrentJointPosition[1] << ", " << vCurrentJointPosition[2]<< std::endl;
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return bIsReadSuccessfull;
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}
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bool DynamixelHandler::readCurrentJointPosition(std::vector<uint16_t>& vCurrentJointPosition)
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{
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bool bIsReadSuccessfull = false;
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for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
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{
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int dxl_comm_result = COMM_TX_FAIL; // Communication result
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uint8_t dxl_error = 0;
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uint16_t dxl_present_position = 0;
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dxl_comm_result = m_pPacketHandler->read2ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_PRESENT_POSITION, &dxl_present_position, &dxl_error);
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if (dxl_comm_result != COMM_SUCCESS)
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{
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//std::cout << "[ERROR] " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
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bIsReadSuccessfull = false;
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}
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else if (dxl_error != 0)
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{
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//std::cout << "[ERROR] " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
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bIsReadSuccessfull = false;
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}
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else
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{
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vCurrentJointPosition.push_back(dxl_present_position);
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bIsReadSuccessfull = true;
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}
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}
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return bIsReadSuccessfull;
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}
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bool DynamixelHandler::sendTargetJointPosition(std::vector<float>& vTargetJointPosition)
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{
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// Checks if the input vector has the right size
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if (vTargetJointPosition.size() != NB_JOINTS)
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{
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std::cout << "[ERROR] (sendTargetJointPosition) Input vector has not the right size!" << std::endl;
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return false;
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}
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// Creates a vector of motor commands
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std::vector<uint16_t> l_vTargetJointPosition;
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// q1
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l_vTargetJointPosition.push_back(convertAngleToJointCmd(ROT_DIRECTION_Q1*vTargetJointPosition[0]));
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// qpen
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l_vTargetJointPosition.push_back(convertAngleToJointCmd(ROT_DIRECTION_QPEN*vTargetJointPosition[1]));
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// q2
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l_vTargetJointPosition.push_back(convertAngleToJointCmd(ROT_DIRECTION_Q2*vTargetJointPosition[2]));
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//std::cout << "l_vTargetJointPosition= " << l_vTargetJointPosition[0] << ", " << l_vTargetJointPosition[1] << ", " << l_vTargetJointPosition[2]<< std::endl;
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// call the dxl sendTargetJointPosition
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bool bIsSendSuccessfull = this->sendTargetJointPosition(l_vTargetJointPosition);
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return bIsSendSuccessfull;
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}
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bool DynamixelHandler::sendTargetJointPosition(std::vector<uint16_t>& vTargetJointPosition)
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{
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bool bIsSendSuccessfull = false;
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// checks if the vector size is correct
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if (vTargetJointPosition.size() != NB_JOINTS)
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{
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std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): Size of command vector is not correct: " << vTargetJointPosition.size() << " instead of " << NB_JOINTS << "!" << std::endl;
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bIsSendSuccessfull = false;
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}
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for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
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{
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int dxl_comm_result = COMM_TX_FAIL; // Communication result
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uint8_t dxl_error = 0;
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uint16_t dxl_present_position = 0;
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dxl_comm_result = m_pPacketHandler->write2ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_GOAL_POSITION, vTargetJointPosition[l_joint], &dxl_error);
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if (dxl_comm_result != COMM_SUCCESS)
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{
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//std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
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bIsSendSuccessfull = false;
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}
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else if (dxl_error != 0)
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{
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//std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
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bIsSendSuccessfull = false;
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}
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else
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{
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bIsSendSuccessfull = true;
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}
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}
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return bIsSendSuccessfull;
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}
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bool DynamixelHandler::sendTargetJointVelocity(std::vector<float>& vTargetJointVelocity)
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{
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// Checks if the input vector has the right size
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if (vTargetJointVelocity.size() != NB_JOINTS)
|
||||
{
|
||||
std::cout << "[ERROR] (sendTargetJointVelocity) Input vector has not the right size!" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// Creates a vector of motor commands
|
||||
std::vector<uint16_t> l_vTargetJointVelocity;
|
||||
// q1
|
||||
l_vTargetJointVelocity.push_back(convertJointVelocityToJointCmd(ROT_DIRECTION_Q1*vTargetJointVelocity[0]));
|
||||
// qpen
|
||||
l_vTargetJointVelocity.push_back(convertJointVelocityToJointCmd(ROT_DIRECTION_QPEN*vTargetJointVelocity[1]));
|
||||
// q2
|
||||
l_vTargetJointVelocity.push_back(convertJointVelocityToJointCmd(ROT_DIRECTION_Q2*vTargetJointVelocity[2]));
|
||||
|
||||
std::cout << "l_vTargetJointVelocity= " << l_vTargetJointVelocity[0] << ", " << l_vTargetJointVelocity[1] << ", " << l_vTargetJointVelocity[2]<< std::endl;
|
||||
|
||||
// call the dxl sendTargetJointPosition
|
||||
bool bIsSendSuccessfull = this->sendTargetJointVelocity(l_vTargetJointVelocity);
|
||||
|
||||
return bIsSendSuccessfull;
|
||||
}
|
||||
|
||||
bool DynamixelHandler::sendTargetJointVelocity(std::vector<uint16_t>& vTargetJointVelocity)
|
||||
{
|
||||
bool bIsSendSuccessfull = false;
|
||||
|
||||
// checks if the vector size is correct
|
||||
if (vTargetJointVelocity.size() != NB_JOINTS)
|
||||
{
|
||||
std::cout << "[ERROR] (DynamixelHandler::sendTargetJointVelocity): Size of command vector is not correct: " << vTargetJointVelocity.size() << " instead of " << NB_JOINTS << "!" << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
|
||||
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
|
||||
{
|
||||
int dxl_comm_result = COMM_TX_FAIL; // Communication result
|
||||
uint8_t dxl_error = 0;
|
||||
uint16_t dxl_present_position = 0;
|
||||
dxl_comm_result = m_pPacketHandler->write2ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_GOAL_VELOCITY, vTargetJointVelocity[l_joint], &dxl_error);
|
||||
if (dxl_comm_result != COMM_SUCCESS)
|
||||
{
|
||||
//std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
else if (dxl_error != 0)
|
||||
{
|
||||
//std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
bIsSendSuccessfull = true;
|
||||
}
|
||||
}
|
||||
return bIsSendSuccessfull;
|
||||
|
||||
}
|
||||
|
||||
bool DynamixelHandler::enableTorque(bool bEnableTorque)
|
||||
{
|
||||
bool bIsSendSuccessfull = false;
|
||||
|
||||
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
|
||||
{
|
||||
int dxl_comm_result = COMM_TX_FAIL; // Communication result
|
||||
uint8_t dxl_error = 0;
|
||||
|
||||
dxl_comm_result = m_pPacketHandler->write1ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_TORQUE_ENABLE, bEnableTorque, &dxl_error);
|
||||
if (dxl_comm_result != COMM_SUCCESS)
|
||||
{
|
||||
//std::cout << "[ERROR] (DynamixelHandler::enableTorque): " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
else if (dxl_error != 0)
|
||||
{
|
||||
//std::cout << "[ERROR] (DynamixelHandler::enableTorque): " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
bIsSendSuccessfull = true;
|
||||
}
|
||||
}
|
||||
return bIsSendSuccessfull;
|
||||
}
|
||||
|
||||
bool DynamixelHandler::setControlMode(int iControlMode)
|
||||
{
|
||||
bool bIsSendSuccessfull = false;
|
||||
|
||||
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
|
||||
{
|
||||
int dxl_comm_result = COMM_TX_FAIL; // Communication result
|
||||
uint8_t dxl_error = 0;
|
||||
|
||||
dxl_comm_result = m_pPacketHandler->write1ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_CONTROL_MODE, iControlMode, &dxl_error);
|
||||
if (dxl_comm_result != COMM_SUCCESS)
|
||||
{
|
||||
//std::cout << "[ERROR] (DynamixelHandler::enableTorque): " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
else if (dxl_error != 0)
|
||||
{
|
||||
//std::cout << "[ERROR] (DynamixelHandler::enableTorque): " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
|
||||
bIsSendSuccessfull = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
bIsSendSuccessfull = true;
|
||||
}
|
||||
}
|
||||
return bIsSendSuccessfull;
|
||||
}
|
||||
|
|
@ -0,0 +1,149 @@
|
|||
#include "ImageProcessing.h"
|
||||
|
||||
std::vector<std::vector<cv::Point>> imageProcessing(cv::Mat img_original)
|
||||
{
|
||||
// displays the original image
|
||||
cv::imshow( "Original", img_original );
|
||||
|
||||
// converts the image to grayscale
|
||||
cv::Mat img_gray;
|
||||
cv::cvtColor( img_original, img_gray, cv::COLOR_BGR2GRAY );
|
||||
|
||||
// displays the grayscale image
|
||||
cv::imshow( "Grayscale", img_gray );
|
||||
|
||||
cv::Mat img_threshold;
|
||||
cv::threshold(img_gray, img_threshold, thresholdValue, maxValue, cv::THRESH_BINARY);
|
||||
|
||||
if (false)
|
||||
{
|
||||
// blurs it
|
||||
cv::Mat img_blur;
|
||||
blur( img_gray, img_blur, cv::Size(3,3) );
|
||||
|
||||
// displays the blurred image
|
||||
cv::imshow( "Blur", img_blur );
|
||||
|
||||
// applies Canny algorithm on it
|
||||
cv::Mat canny_output;
|
||||
cv::Canny( img_blur, canny_output, thresholdValue, maxValue );
|
||||
|
||||
// displays the canny image
|
||||
cv::imshow( "Canny", canny_output );
|
||||
}
|
||||
|
||||
// finds contours on the canny image
|
||||
std::vector<std::vector<cv::Point> > contours;
|
||||
std::vector<cv::Vec4i> hierarchy;
|
||||
cv::findContours( img_threshold, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_NONE );
|
||||
//cv::findContours( canny_output, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_NONE );
|
||||
|
||||
// displays contours on the original image
|
||||
cv::RNG rng(12345);
|
||||
//cv::Mat drawing = cv::Mat::zeros( canny_output.size(), CV_8UC3 );
|
||||
cv::Mat drawing = cv::Mat::zeros( img_threshold.size(), CV_8UC3 );
|
||||
for( size_t i = 0; i< contours.size(); i++ )
|
||||
{
|
||||
cv::Scalar color = cv::Scalar( rng.uniform(0, 256), rng.uniform(0,256), rng.uniform(0,256) );
|
||||
cv::drawContours( drawing, contours, (int)i, color, 2, cv::LINE_8, hierarchy, 0 );
|
||||
}
|
||||
cv::imshow( "Contours", drawing );
|
||||
|
||||
return contours;
|
||||
}
|
||||
|
||||
std::vector<std::vector<float>> convertContoursPixel2Mm(std::vector<std::vector<cv::Point>> vContoursInPixel, float theta, float tx, float ty, int imageWidth, int imageHeight)
|
||||
{
|
||||
std::vector<std::vector<float>> vContoursInMm;
|
||||
|
||||
// pixel / mm ratios
|
||||
float widthRatio = (float)imageWidth / drawingAreaWidthInMm;
|
||||
float heigthRatio = (float)imageHeight / drawingAreaHeigthInMm;
|
||||
float appliedRatio = ceil((widthRatio>=heigthRatio) ? widthRatio : heigthRatio);
|
||||
|
||||
// image to real world reference frame transformation
|
||||
cv::Mat transformationMatrix(3, 3, CV_32FC1);
|
||||
transformationMatrix.at<float>(0,0) = cos(theta); transformationMatrix.at<float>(0,1) = -sin(theta); transformationMatrix.at<float>(0,2) = tx;
|
||||
transformationMatrix.at<float>(1,0) = sin(theta); transformationMatrix.at<float>(1,1) = cos(theta); transformationMatrix.at<float>(1,2) = ty;
|
||||
transformationMatrix.at<float>(2,0) = 0.0; transformationMatrix.at<float>(2,1) = 0.0; transformationMatrix.at<float>(2,2) = 1.0;
|
||||
|
||||
// size the output vector with the same number of contours as the input one
|
||||
vContoursInMm.resize(vContoursInPixel.size());
|
||||
|
||||
// fill the output vector by transforming the data
|
||||
for (int l_contour = 0; l_contour < vContoursInPixel.size(); l_contour++)
|
||||
{
|
||||
std::cout << "[INFO] (convertContoursPixel2Mm) contour #" << l_contour << " , # of pts = " << vContoursInPixel[l_contour].size()<< std::endl;
|
||||
for (int l_point = 0; l_point < vContoursInPixel[l_contour].size(); l_point++)
|
||||
{
|
||||
// get the coordinate of the current point in the pixel reference frame
|
||||
cv::Mat pointCoordinateInPixel(3, 1, CV_32FC1);
|
||||
pointCoordinateInPixel.at<float>(0,0) = vContoursInPixel[l_contour][l_point].y/ appliedRatio; //!! WATCH OUT Points go (x,y); (width,height)
|
||||
pointCoordinateInPixel.at<float>(1,0) = vContoursInPixel[l_contour][l_point].x/ appliedRatio;
|
||||
pointCoordinateInPixel.at<float>(2,0) = 1.0;
|
||||
|
||||
// transform it in the real world reference frame
|
||||
cv::Mat pointCoordinateInMm(3, 1, CV_32FC1);
|
||||
pointCoordinateInMm = transformationMatrix * pointCoordinateInPixel;
|
||||
|
||||
// store the data in the contour in mm
|
||||
vContoursInMm[l_contour].push_back(pointCoordinateInMm.at<float>(0,0) );
|
||||
vContoursInMm[l_contour].push_back(pointCoordinateInMm.at<float>(1,0) );
|
||||
}
|
||||
}
|
||||
|
||||
return vContoursInMm;
|
||||
|
||||
}
|
||||
|
||||
void sendContours(std::vector<std::vector<cv::Point>> vContoursInPixel, std::vector<std::vector<float>> vContoursInMm, DynamixelHandler& dxlHandler, float L1, float L2)
|
||||
{
|
||||
if (vContoursInPixel.size() == 0 || vContoursInMm.size() == 0)
|
||||
{
|
||||
std::cout << "[ERROR](sendContours) Contour vector is empty!" << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
cv::Mat drawing = cv::Mat::zeros( 240, 240, CV_8UC3 );
|
||||
cv::Scalar color = cv::Scalar( 0, 0, 255 );
|
||||
cv::imshow( "Current contour", drawing );
|
||||
|
||||
float q_pen = deg2rad(-70.0f);
|
||||
|
||||
for (int l_contour = 0; l_contour < vContoursInMm.size(); l_contour++)
|
||||
{
|
||||
q_pen = deg2rad(-70.0f);
|
||||
std::cout << "[INFO] (sendContours) contour #" << l_contour << " , # of pts = " << vContoursInMm[l_contour].size()<< std::endl;
|
||||
for (int l_point = 0; l_point < vContoursInMm[l_contour].size()/2; l_point=l_point+incrementBetweenSamples)
|
||||
{
|
||||
std::cout << "l_point #" << l_point << std::endl;
|
||||
float targetPointX = vContoursInMm[l_contour][2*l_point]/10; // in cm
|
||||
float targetPointY = vContoursInMm[l_contour][2*l_point+1]/10; // in cm
|
||||
|
||||
float targetPointI = vContoursInPixel[l_contour][l_point].x;
|
||||
float targetPointJ = vContoursInPixel[l_contour][l_point].y;
|
||||
|
||||
// Plots a dot at the current point position
|
||||
cv::circle(drawing, cv::Point(targetPointI ,targetPointJ), 0, cv::Scalar(0,0,255), cv::FILLED, cv::LINE_8);
|
||||
cv::imshow( "Current contour", drawing );
|
||||
std::cout<<"CurrentPoint = (" << targetPointJ << "," << targetPointI << ") --> (" << targetPointX << "," << targetPointY << ")" << std::endl;
|
||||
|
||||
// IK
|
||||
std::vector<float> qi = computeInverseKinematics(targetPointX, targetPointY, L1, L2);
|
||||
if (qi.size() > 3)
|
||||
{
|
||||
std::vector<float> l_vTargetJointPosition;
|
||||
// q1
|
||||
l_vTargetJointPosition.push_back(qi[1]);
|
||||
// fixed joint
|
||||
l_vTargetJointPosition.push_back(q_pen);
|
||||
// q2
|
||||
l_vTargetJointPosition.push_back(qi[2]);
|
||||
|
||||
dxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
|
||||
}
|
||||
q_pen = deg2rad(-90.0f);
|
||||
cv::waitKey(deltaTBetweenSamples);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
#include "Kinematics.h"
|
||||
|
||||
|
||||
float deg2rad(float angle)
|
||||
{
|
||||
return angle/180.0*M_PI;
|
||||
}
|
||||
|
||||
float rad2deg(float angle)
|
||||
{
|
||||
return angle*180.0/M_PI;
|
||||
}
|
||||
|
||||
std::vector<float> computeForwardKinematics(float q1, float q2, float L1, float L2)
|
||||
{
|
||||
float x = L1 * cos(q1) + L2 * cos(q1+q2);
|
||||
float y = L1 * sin(q1) + L2 * sin(q1+q2);
|
||||
std::cout << "[INFO] Forward Kinematics : (q1, q2)->(x, y) = (" << rad2deg(q1) << ", " << rad2deg(q2) << ")->(" << x << ", " << y << ")" << std::endl;
|
||||
std::vector<float> X;
|
||||
X.push_back(x);
|
||||
X.push_back(y);
|
||||
|
||||
return X;
|
||||
}
|
||||
|
||||
int computeJacobianMatrixRank(std::vector<float> vJacobianMatrix, float threshold)
|
||||
{
|
||||
int rank = -1;
|
||||
cv::Mat1f oJacobianMatrix(2, 2);
|
||||
|
||||
if (vJacobianMatrix.size() == 4)
|
||||
{
|
||||
// Converts the Jacobian matrix from std::vector to cv::Mat
|
||||
oJacobianMatrix.at<float>(0, 0) = vJacobianMatrix[0];
|
||||
oJacobianMatrix.at<float>(0, 1) = vJacobianMatrix[1];
|
||||
oJacobianMatrix.at<float>(1, 0) = vJacobianMatrix[2];
|
||||
oJacobianMatrix.at<float>(1, 1) = vJacobianMatrix[3];
|
||||
std::cout << "=====Jacobian Matrix=====" << std::endl;
|
||||
std::cout << "[ " << oJacobianMatrix.at<float>(0,0) << ", " << oJacobianMatrix.at<float>(0,1) << " ]" << std::endl;
|
||||
std::cout << "[ " << oJacobianMatrix.at<float>(1,0) << ", " << oJacobianMatrix.at<float>(1,1) << " ]" << std::endl;
|
||||
// Computes the determinant of the Jacobian matrix
|
||||
float determinant = abs(vJacobianMatrix[0] * vJacobianMatrix[3] - vJacobianMatrix[1]*vJacobianMatrix[2]);
|
||||
std::cout << "=====Determinant of the Jacobian matrix=====" << std::endl << determinant << std::endl;
|
||||
// Computes SVD
|
||||
cv::Mat1f w, u, vt;
|
||||
cv::SVD::compute(oJacobianMatrix, w, u, vt);
|
||||
// Finds non zero singular values
|
||||
cv::Mat1f nonZeroSingularValues = w/w.at<float>(0,0) > threshold;
|
||||
// Counts the number of non zero singular values
|
||||
rank = cv::countNonZero(nonZeroSingularValues);
|
||||
std::cout << "=====Rank of the Jacobian matrix=====" << std::endl << rank << " / " << oJacobianMatrix.rows << std::endl;
|
||||
// Determines the inverse of the Jacobian matrix
|
||||
cv::Mat oJacobianInverse = oJacobianMatrix.inv();
|
||||
std::cout << "=====Inverse of the Jacobian Matrix=====" << std::endl;
|
||||
std::cout << "[ " << oJacobianInverse.at<float>(0,0) << ", " << oJacobianInverse.at<float>(0,1) << " ]" << std::endl;
|
||||
std::cout << "[ " << oJacobianInverse.at<float>(1,0) << ", " << oJacobianInverse.at<float>(1,1) << " ]" << std::endl;
|
||||
}
|
||||
else
|
||||
std::cout << "[ERROR] Jacobian matrix has a size of "<< vJacobianMatrix.size() << " instead of 4" << std::endl;
|
||||
|
||||
return rank;
|
||||
}
|
||||
|
||||
cv::Mat computeInverseJacobianMatrix(std::vector<float> vJacobianMatrix)
|
||||
{
|
||||
cv::Mat1f oJacobianMatrix(2, 2);
|
||||
cv::Mat oJacobianInverse;
|
||||
|
||||
if (vJacobianMatrix.size() == 4)
|
||||
{
|
||||
// Converts the Jacobian matrix from std::vector to cv::Mat
|
||||
oJacobianMatrix.at<float>(0, 0) = vJacobianMatrix[0];
|
||||
oJacobianMatrix.at<float>(0, 1) = vJacobianMatrix[1];
|
||||
oJacobianMatrix.at<float>(1, 0) = vJacobianMatrix[2];
|
||||
oJacobianMatrix.at<float>(1, 1) = vJacobianMatrix[3];
|
||||
std::cout << "=====Jacobian Matrix=====" << std::endl;
|
||||
std::cout << "[ " << oJacobianMatrix.at<float>(0,0) << ", " << oJacobianMatrix.at<float>(0,1) << " ]" << std::endl;
|
||||
std::cout << "[ " << oJacobianMatrix.at<float>(1,0) << ", " << oJacobianMatrix.at<float>(1,1) << " ]" << std::endl;
|
||||
// Determines the inverse of the Jacobian matrix
|
||||
cv::invert(oJacobianMatrix, oJacobianInverse, cv::DECOMP_SVD);
|
||||
//oJacobianInverse = oJacobianMatrix.inv();
|
||||
std::cout << "=====Inverse of the Jacobian Matrix=====" << std::endl;
|
||||
std::cout << "[ " << oJacobianInverse.at<float>(0,0) << ", " << oJacobianInverse.at<float>(0,1) << " ]" << std::endl;
|
||||
std::cout << "[ " << oJacobianInverse.at<float>(1,0) << ", " << oJacobianInverse.at<float>(1,1) << " ]" << std::endl;
|
||||
}
|
||||
else
|
||||
std::cout << "[ERROR] Jacobian matrix has a size of "<< vJacobianMatrix.size() << " instead of 4" << std::endl;
|
||||
|
||||
return oJacobianInverse;
|
||||
}
|
||||
|
|
@ -0,0 +1,74 @@
|
|||
#include <chrono>
|
||||
#include <thread>
|
||||
|
||||
#include "Kinematics.h"
|
||||
#include "DynamixelHandler.h"
|
||||
|
||||
// Global variables
|
||||
DynamixelHandler _oDxlHandler;
|
||||
std::string _robotDxlPortName = "/dev/ttyUSB0";
|
||||
float _robotDxlProtocol = 2.0;
|
||||
int _robotDxlBaudRate = 1000000;
|
||||
|
||||
|
||||
void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
|
||||
{
|
||||
std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
|
||||
dxlHandler.setDeviceName(portName);
|
||||
dxlHandler.setProtocolVersion(protocol);
|
||||
dxlHandler.openPort();
|
||||
dxlHandler.setBaudRate(baudRate);
|
||||
dxlHandler.enableTorque(true);
|
||||
std::cout << std::endl;
|
||||
|
||||
}
|
||||
|
||||
void closeRobot(DynamixelHandler& dxlHandler)
|
||||
{
|
||||
dxlHandler.enableTorque(false);
|
||||
dxlHandler.closePort();
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
if (argc == 6)
|
||||
{
|
||||
// Retrieves the args and stores them into variables
|
||||
float L1 = atof(argv[1]); // in cm
|
||||
float L2 = atof(argv[2]); // in cm
|
||||
float q1 = deg2rad(atof(argv[3])); // in rad
|
||||
float q2 = deg2rad(atof(argv[4])); // in rad
|
||||
float qpen = deg2rad(atof(argv[5])); // in rad
|
||||
|
||||
// Initializes the robot
|
||||
initRobot(_oDxlHandler, _robotDxlPortName, _robotDxlProtocol, _robotDxlBaudRate);
|
||||
|
||||
// Computes FK
|
||||
computeForwardKinematics(q1, q2, L1, L2);
|
||||
|
||||
// Computes Differential Kinematics
|
||||
//std::vector<float> vJacobianMatrix = computeDifferentialKinematics(q1, q2, L1, L2);
|
||||
//int rank = computeJacobianMatrixRank(vJacobianMatrix, 0.1);
|
||||
|
||||
// Sends the target joint values received as args
|
||||
std::vector<float> vTargetJointPosition;
|
||||
vTargetJointPosition.push_back(q1);
|
||||
vTargetJointPosition.push_back(qpen);
|
||||
vTargetJointPosition.push_back(q2);
|
||||
_oDxlHandler.sendTargetJointPosition(vTargetJointPosition);
|
||||
//std::cout << "vTargetJointPosition= " << vTargetJointPosition[0] << ", " << vTargetJointPosition[1] << ", " << vTargetJointPosition[2]<< std::endl;
|
||||
// Waits 2s
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
|
||||
|
||||
// Closes robot connection
|
||||
_oDxlHandler.closePort();
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "[WARNING] Joint control"<< std::endl;
|
||||
std::cout << ">> jointControl L1(cm) L2(cm) q1(deg) q2(deg) qpen(deg)"<< std::endl;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue