52#include <visp3/core/vpHomogeneousMatrix.h>
53#include <visp3/core/vpMath.h>
54#include <visp3/core/vpPoint.h>
55#include <visp3/io/vpParseArgv.h>
56#include <visp3/robot/vpSimulatorCamera.h>
57#include <visp3/visual_features/vpFeatureBuilder.h>
58#include <visp3/visual_features/vpFeaturePoint.h>
59#include <visp3/visual_features/vpFeatureThetaU.h>
60#include <visp3/visual_features/vpGenericFeature.h>
61#include <visp3/vs/vpServo.h>
66void usage(
const char *name,
const char *badparam);
67bool getOptions(
int argc,
const char **argv);
77void usage(
const char *name,
const char *badparam)
80Simulation of a 2 1/2 D visual servoing (x,y,log Z, theta U):\n\
81- eye-in-hand control law,\n\
82- velocity computed in the camera frame,\n\
95 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
107bool getOptions(
int argc,
const char **argv)
115 usage(argv[0], NULL);
119 usage(argv[0], optarg_);
124 if ((c == 1) || (c == -1)) {
126 usage(argv[0], NULL);
127 std::cerr <<
"ERROR: " << std::endl;
128 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
135int main(
int argc,
const char **argv)
137#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
140 if (getOptions(argc, argv) ==
false) {
144 std::cout << std::endl;
145 std::cout <<
"-------------------------------------------------------" << std::endl;
146 std::cout <<
" simulation of a 2 1/2 D visual servoing " << std::endl;
147 std::cout <<
"-------------------------------------------------------" << std::endl;
148 std::cout << std::endl;
173 robot.getPosition(wMc);
251 logZ.set_s(log(point.get_Z() / pointd.get_Z()));
303 unsigned int iter = 0;
305 while (iter++ < 200) {
306 std::cout <<
"---------------------------------------------" << iter << std::endl;
310 robot.getPosition(wMc);
323 logZ.set_s(log(point.get_Z() / pointd.get_Z()));
325 LlogZ[0][0] = LlogZ[0][1] = LlogZ[0][5] = 0;
326 LlogZ[0][2] = -1 / p.
get_Z();
327 LlogZ[0][3] = -p.
get_y();
328 LlogZ[0][4] = p.
get_x();
330 logZ.setInteractionMatrix(LlogZ);
338 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
344 std::cout << cMo << std::endl;
347 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
353 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Class that enables to define a feature or a set of features which are not implemented in ViSP as a sp...
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines the simplest robot: a free flying camera.