Visual Servoing Platform  version 3.2.0 under development (2018-12-11)
tutorial-ibvs-4pts.cpp
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
int main()
{
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
vpPoint point[4];
point[0].setWorldCoordinates(-0.1, -0.1, 0);
point[1].setWorldCoordinates(0.1, -0.1, 0);
point[2].setWorldCoordinates(0.1, 0.1, 0);
point[3].setWorldCoordinates(-0.1, 0.1, 0);
vpServo task;
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4];
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
task.addFeature(p[i], pd[i]);
}
robot.setSamplingTime(0.040);
robot.getPosition(wMc);
wMo = wMc * cMo;
for (unsigned int iter = 0; iter < 150; iter++) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
}
task.kill();
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}