Visual Servoing Platform version 3.5.0
servoSimuPoint3DCamVelocity.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Simulation of a 3D visual servoing on a 3D point.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
50#include <stdio.h>
51#include <stdlib.h>
52
53#include <visp3/core/vpHomogeneousMatrix.h>
54#include <visp3/core/vpMath.h>
55#include <visp3/core/vpPoint.h>
56#include <visp3/io/vpParseArgv.h>
57#include <visp3/robot/vpSimulatorCamera.h>
58#include <visp3/visual_features/vpFeaturePoint3D.h>
59#include <visp3/vs/vpServo.h>
60
61// List of allowed command line options
62#define GETOPTARGS "h"
63
64void usage(const char *name, const char *badparam);
65bool getOptions(int argc, const char **argv);
66
75void usage(const char *name, const char *badparam)
76{
77 fprintf(stdout, "\n\
78Simulation of a 3D visual servoing:\n\
79- servo a 3D point,\n\
80- eye-in-hand control law,\n\
81- velocity computed in the camera frame,\n\
82- without display.\n\
83 \n\
84SYNOPSIS\n\
85 %s [-h]\n", name);
86
87 fprintf(stdout, "\n\
88OPTIONS: Default\n\
89 \n\
90 -h\n\
91 Print the help.\n");
92
93 if (badparam)
94 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
95}
96
106bool getOptions(int argc, const char **argv)
107{
108 const char *optarg_;
109 int c;
110 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
111
112 switch (c) {
113 case 'h':
114 usage(argv[0], NULL);
115 return false;
116
117 default:
118 usage(argv[0], optarg_);
119 return false;
120 }
121 }
122
123 if ((c == 1) || (c == -1)) {
124 // standalone param or error
125 usage(argv[0], NULL);
126 std::cerr << "ERROR: " << std::endl;
127 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
128 return false;
129 }
130
131 return true;
132}
133
134int main(int argc, const char **argv)
135{
136#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
137 try {
138 // Read the command line options
139 if (getOptions(argc, argv) == false) {
140 exit(-1);
141 }
142
143 vpServo task;
144 vpSimulatorCamera robot;
145
146 std::cout << std::endl;
147 std::cout << "-------------------------------------------------------" << std::endl;
148 std::cout << " Test program for vpServo " << std::endl;
149 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
150 std::cout << " Simulation " << std::endl;
151 std::cout << " task : servo a 3D point " << std::endl;
152 std::cout << "-------------------------------------------------------" << std::endl;
153 std::cout << std::endl;
154
155 // sets the initial camera location
157 cMo[0][3] = 0.1;
158 cMo[1][3] = 0.2;
159 cMo[2][3] = 2;
160 // Compute the position of the object in the world frame
161 vpHomogeneousMatrix wMc, wMo;
162 robot.getPosition(wMc);
163 wMo = wMc * cMo;
164
165 // sets the point coordinates in the world frame
166 vpPoint point(0, 0, 0);
167
168 // computes the point coordinates in the camera frame
169 point.track(cMo);
170
171 std::cout << "Point coordinates in the camera frame: " << point.cP.t();
172
174 p.buildFrom(point);
175
176 // sets the desired position of the point
178 pd.set_XYZ(0, 0, 1);
179
180 // define the task
181 // - we want an eye-in-hand control law
182 // - robot is controlled in the camera frame
184
185 // we want to see a point on a point
186 std::cout << std::endl;
187 task.addFeature(p, pd);
188
189 // set the gain") ;
190 task.setLambda(1);
191
192 // Display task information
193 task.print();
194
195 unsigned int iter = 0;
196 // loop
197 while (iter++ < 200) {
198 std::cout << "---------------------------------------------" << iter << std::endl;
199 vpColVector v;
200
201 // get the robot position
202 robot.getPosition(wMc);
203 // Compute the position of the object frame in the camera frame
204 cMo = wMc.inverse() * wMo;
205
206 // new point position
207 point.track(cMo);
208 p.buildFrom(point);
209 // std::cout << p.cP.t() ;
210 // std::cout << (p.get_s()).t() ;
211
212 // compute the control law
213 v = task.computeControlLaw();
214 // send the camera velocity to the controller
216
217 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
218 }
219
220 // Display task information
221 task.print();
222 return EXIT_SUCCESS;
223 } catch (const vpException &e) {
224 std::cout << "Catch a ViSP exception: " << e << std::endl;
225 return EXIT_FAILURE;
226 }
227#else
228 (void)argc;
229 (void)argv;
230 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
231 return EXIT_SUCCESS;
232#endif
233}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
Class that defines the 3D point visual feature.
void set_XYZ(double X, double Y, double Z)
void buildFrom(const vpPoint &p)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Class that defines the simplest robot: a free flying camera.