servoSimuPoint2DhalfCamVelocity1.cpp

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

• (x,y,Z,theta U) features,
• eye-in-hand control law,
• velocity computed in the camera frame,
• no display.

/****************************************************************************
 *
 * $Id: servoSimuPoint2DhalfCamVelocity1.cpp 2457 2010-01-07 10:41:18Z nmelchio $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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 <stdlib.h>
#include <stdio.h>

#include <visp/vpFeatureBuilder.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpFeatureThetaU.h>
#include <visp/vpGenericFeature.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMath.h>
#include <visp/vpParseArgv.h>
#include <visp/vpPoint.h>
#include <visp/vpServo.h>
#include <visp/vpSimulatorCamera.h>

// List of allowed command line options
#define GETOPTARGS  "h"

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)
{
  // Read the command line options
  if (getOptions(argc, argv) == false) {
    exit (-1);
  }

  vpServo task ;
  vpSimulatorCamera robot ;

  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
  vpHomogeneousMatrix wMc, wMo;
  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 ;
  point.setWorldCoordinates(0,0,0) ;
  // computes the point coordinates in the camera frame and its 2D coordinates
  point.track(cMo) ;

  vpPoint pointd ;
  pointd.setWorldCoordinates(0,0,0) ;
  pointd.track(cdMo) ;
  //------------------------------------------------------------------
  // 1st feature (x,y)
  // want to it at (0,0)
  vpFeaturePoint p ;
  vpFeatureBuilder::create(p,point)  ;

  vpFeaturePoint pd ;
  vpFeatureBuilder::create(pd,pointd)  ;

  //------------------------------------------------------------------
  // 2nd feature (Z)
  // not necessary to project twice (reuse p)
  vpFeaturePoint3D Z ;
  vpFeatureBuilder::create(Z,point)  ;  //retrieve x,y and Z of the vpPoint structure

  // want to see it one meter away (here again use pd)
  vpFeaturePoint3D Zd ;
  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
  vpHomogeneousMatrix cdMc ;
  cdMc = cdMo*cMo.inverse() ;

  vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
  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.setServo(vpServo::EYEINHAND_CAMERA) ;

  task.addFeature(p,pd) ;
  task.addFeature(Z,Zd,vpFeaturePoint3D::selectZ()) ;
  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 ;
    vpColVector v ;

    // 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) ;
    vpFeatureBuilder::create(p,point)  ;
    vpFeatureBuilder::create(Z,point)  ;

    cdMc = cdMo*cMo.inverse() ;
    tu.buildFrom(cdMc) ;

    // compute the control law
    v = task.computeControlLaw() ;
    // send the camera velocity to the controller ") ;
    robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;

    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 ;
}