Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
servoSimuPoint2DhalfCamVelocity1.cpp

Simulation of a 2 1/2 D visual servoing (theta U):

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Simulation of a 2 1/2 D visual servoing.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpGenericFeature.h>
#include <visp3/vs/vpServo.h>
// List of allowed command line options
#define GETOPTARGS "h"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Simulation of a 2 1/2 D visual servoing (x,y,Z,theta U):\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- without display.\n\
\n\
SYNOPSIS\n\
%s [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
\n\
-h\n\
Print the help.\n");
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h':
usage(argv[0], NULL);
return false;
break;
default:
usage(argv[0], optarg_);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
try {
// Read the command line options
if (getOptions(argc, argv) == false) {
exit(-1);
}
vpServo task;
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " task : 2 1/2 D visual servoing " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
// sets the initial camera location
vpPoseVector c_r_o(0.1, 0.2, 2, vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
vpHomogeneousMatrix cMo(c_r_o);
// Compute the position of the object in the world frame
robot.getPosition(wMc);
wMo = wMc * cMo;
// sets the desired camera location
vpPoseVector cd_r_o(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
vpHomogeneousMatrix cdMo(cd_r_o);
// sets the point coordinates in the world frame
vpPoint point(0, 0, 0);
// computes the point coordinates in the camera frame and its 2D
// coordinates
point.track(cMo);
vpPoint pointd(0, 0, 0);
pointd.track(cdMo);
//------------------------------------------------------------------
// 1st feature (x,y)
// want to it at (0,0)
//------------------------------------------------------------------
// 2nd feature (Z)
// not necessary to project twice (reuse p)
vpFeatureBuilder::create(Z, point); // retrieve x,y and Z of the vpPoint structure
// want to see it one meter away (here again use pd)
vpFeatureBuilder::create(Zd, pointd); // retrieve x,y and Z of the vpPoint structure
//------------------------------------------------------------------
// 3rd feature ThetaU
// compute the rotation that the camera has to achieve
cdMc = cdMo * cMo.inverse();
tu.buildFrom(cdMc);
// sets the desired rotation (always zero !)
// since s is the rotation that the camera has to achieve
//------------------------------------------------------------------
// define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
task.addFeature(p, pd);
task.addFeature(tu);
// set the gain
task.setLambda(1);
// Display task information
task.print();
unsigned int iter = 0;
// loop
while (iter++ < 200) {
std::cout << "---------------------------------------------" << iter << std::endl;
// get the robot position
robot.getPosition(wMc);
// Compute the position of the camera wrt the object frame
cMo = wMc.inverse() * wMo;
// update the feature
point.track(cMo);
cdMc = cdMo * cMo.inverse();
tu.buildFrom(cdMc);
// compute the control law
v = task.computeControlLaw();
// send the camera velocity to the controller ") ;
std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
}
// Display task information
task.print();
task.kill();
std::cout << "Final camera location:\n " << cMo << std::endl;
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_SUCCESS;
}
}