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>
63 #define GETOPTARGS "h"
73 void usage(
const char *name,
const char *badparam)
76 Simulation of a 2D visual servoing on a point:\n\
77 - eye-in-hand control law,\n\
78 - velocity computed in the camera frame,\n\
91 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
104 bool getOptions(
int argc,
const char **argv)
111 case 'h': usage(argv[0], NULL);
return false;
break;
114 usage(argv[0], optarg);
119 if ((c == 1) || (c == -1)) {
121 usage(argv[0], NULL);
122 std::cerr <<
"ERROR: " << std::endl;
123 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
131 main(
int argc,
const char ** argv)
134 if (getOptions(argc, argv) ==
false) {
173 std::cout << std::endl ;
182 unsigned int iter=0 ;
186 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
205 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
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)
create a new ste of two visual features
void setLambda(double _lambda)
set the gain lambda
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)
Class that defines what is a point.
void kill()
destruction (memory deallocation if required)
vpColVector getError() const
vpColVector computeControlLaw()
compute the desired control law
void getPosition(vpHomogeneousMatrix &wMc) const
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...
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class required to compute the visual servoing control law descbribed in and .
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
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...