ViSP  2.10.0
servoSimuPoint2DCamVelocity1.cpp
1 /****************************************************************************
2  *
3  * $Id: servoSimuPoint2DCamVelocity1.cpp 2457 2010-01-07 10:41:18Z nmelchio $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Simulation of a 2D visual servoing on a point.
36  *
37  * Authors:
38  * Eric Marchand
39  * Fabien Spindler
40  *
41  *****************************************************************************/
42 
51 #include <stdlib.h>
52 #include <stdio.h>
53 
54 #include <visp/vpFeatureBuilder.h>
55 #include <visp/vpFeaturePoint.h>
56 #include <visp/vpHomogeneousMatrix.h>
57 #include <visp/vpMath.h>
58 #include <visp/vpParseArgv.h>
59 #include <visp/vpServo.h>
60 #include <visp/vpSimulatorCamera.h>
61 
62 // List of allowed command line options
63 #define GETOPTARGS "h"
64 
65 void usage(const char *name, const char *badparam);
66 bool getOptions(int argc, const char **argv);
67 
76 void usage(const char *name, const char *badparam)
77 {
78  fprintf(stdout, "\n\
79 Simulation of a 2D visual servoing on a point:\n\
80 - eye-in-hand control law,\n\
81 - velocity computed in the camera frame,\n\
82 - without display.\n\
83  \n\
84 SYNOPSIS\n\
85  %s [-h]\n", name);
86 
87  fprintf(stdout, "\n\
88 OPTIONS: 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 
107 bool getOptions(int argc, const char **argv)
108 {
109  const char *optarg_;
110  int c;
111  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
112 
113  switch (c) {
114  case 'h': usage(argv[0], NULL); return false; break;
115 
116  default:
117  usage(argv[0], optarg_);
118  return false; break;
119  }
120  }
121 
122  if ((c == 1) || (c == -1)) {
123  // standalone param or error
124  usage(argv[0], NULL);
125  std::cerr << "ERROR: " << std::endl;
126  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
127  return false;
128  }
129 
130  return true;
131 }
132 
133 int
134 main(int argc, const char ** argv)
135 {
136  try {
137  // Read the command line options
138  if (getOptions(argc, argv) == false) {
139  exit (-1);
140  }
141 
142  vpServo task ;
143  vpSimulatorCamera robot ;
144 
145  // sets the initial camera location
146  vpHomogeneousMatrix cMo ;
147  cMo[0][3] = 0.1 ;
148  cMo[1][3] = 0.2 ;
149  cMo[2][3] = 2 ;
150 
151  // Compute the position of the object in the world frame
152  vpHomogeneousMatrix wMc, wMo;
153  robot.getPosition(wMc) ;
154  wMo = wMc * cMo;
155 
156  // sets the point coordinates in the world frame
157  vpPoint point ;
158  point.setWorldCoordinates(0,0,0) ;
159 
160  // computes the point coordinates in the camera frame and its 2D coordinates
161  point.track(cMo) ;
162 
163  // sets the current position of the visual feature
164  vpFeaturePoint p ;
165  vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
166 
167  // sets the desired position of the visual feature
168  vpFeaturePoint pd ;
169  pd.buildFrom(0,0,1) ; // buildFrom(x,y,Z) ;
170 
171  // define the task
172  // - we want an eye-in-hand control law
173  // - robot is controlled in the camera frame
175 
176  // we want to see a point on a point
177  std::cout << std::endl ;
178  task.addFeature(p,pd) ;
179 
180  // set the gain
181  task.setLambda(1) ;
182 
183  // Display task information
184  task.print() ;
185 
186  unsigned int iter=0 ;
187  // loop
188  while(iter++<100)
189  {
190  std::cout << "---------------------------------------------" << iter <<std::endl ;
191  vpColVector v ;
192 
193  // get the robot position
194  robot.getPosition(wMc) ;
195  // Compute the position of the camera wrt the object frame
196  cMo = wMc.inverse() * wMo;
197 
198  // new point position
199  point.track(cMo) ;
200  //retrieve x,y and Z of the vpPoint structure
201  vpFeatureBuilder::create(p,point);
202 
203  // compute the control law
204  v = task.computeControlLaw() ;
205 
206  // send the camera velocity to the controller
208 
209  std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
210  }
211 
212  // Display task information
213  task.print() ;
214  task.kill();
215  return 0;
216  }
217  catch(vpException e) {
218  std::cout << "Catch a ViSP exception: " << e << std::endl;
219  return 1;
220  }
221 }
222 
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Class that defines the simplest robot: a free flying camera.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:449
error that can be emited by ViSP classes.
Definition: vpException.h:76
void track(const vpHomogeneousMatrix &cMo)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:80
Class that defines what is a point.
Definition: vpPoint.h:65
void kill()
Definition: vpServo.cpp:189
vpColVector getError() const
Definition: vpServo.h:257
vpColVector computeControlLaw()
Definition: vpServo.cpp:902
void getPosition(vpHomogeneousMatrix &wMc) const
void setLambda(double c)
Definition: vpServo.h:370
void buildFrom(const double x, const double y, const double Z)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:251
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:220
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...
Definition: vpPoint.cpp:74