51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/io/vpParseArgv.h>
54 #include <visp3/robot/vpSimulatorCamera.h>
55 #include <visp3/visual_features/vpFeatureThetaU.h>
56 #include <visp3/visual_features/vpFeatureTranslation.h>
57 #include <visp3/vs/vpServo.h>
60 #define GETOPTARGS "h"
61 void usage(
const char *name,
const char *badparam);
62 bool getOptions(
int argc,
const char **argv);
71 void usage(
const char *name,
const char *badparam)
74 Simulation of avisual servoing using theta U visual feature:\n\
75 - eye-in-hand control law,\n\
76 - velocity computed in the camera frame,\n\
90 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
103 bool getOptions(
int argc,
const char **argv)
111 usage(argv[0],
nullptr);
115 usage(argv[0], optarg_);
120 if ((c == 1) || (c == -1)) {
122 usage(argv[0],
nullptr);
123 std::cerr <<
"ERROR: " << std::endl;
124 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
131 int main(
int argc,
const char **argv)
133 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
136 if (getOptions(argc, argv) ==
false) {
143 std::cout << std::endl;
144 std::cout <<
"-------------------------------------------------------" << std::endl;
145 std::cout <<
" Test program for vpServo " << std::endl;
146 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
147 std::cout <<
" Simulation " << std::endl;
148 std::cout <<
" task : servo using theta U visual feature " << std::endl;
149 std::cout <<
"-------------------------------------------------------" << std::endl;
150 std::cout << std::endl;
158 robot.getPosition(wMc);
185 unsigned int iter = 0;
187 while (iter++ < 200) {
188 std::cout <<
"---------------------------------------------" << iter << std::endl;
192 robot.getPosition(wMc);
206 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
213 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
219 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 emitted by ViSP classes.
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
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)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.