60 #include <visp/vpConfig.h>
61 #include <visp/vpFeatureBuilder.h>
62 #include <visp/vpFeaturePoint.h>
63 #include <visp/vpHomogeneousMatrix.h>
64 #include <visp/vpMath.h>
65 #include <visp/vpParseArgv.h>
66 #include <visp/vpServo.h>
67 #include <visp/vpSimulatorCamera.h>
70 #define GETOPTARGS "h"
72 void usage(
const char *name,
const char *badparam);
73 bool getOptions(
int argc,
const char **argv);
83 void usage(
const char *name,
const char *badparam)
86 Simulation of a 2D visual servoing:\n\
87 - servo on 4 points,\n\
88 - eye-in-hand control law,\n\
89 - articular velocity are computed,\n\
102 fprintf(stderr,
"ERROR: \n" );
103 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
117 bool getOptions(
int argc,
const char **argv)
124 case 'h': usage(argv[0], NULL);
return false;
break;
127 usage(argv[0], optarg_);
132 if ((c == 1) || (c == -1)) {
134 usage(argv[0], NULL);
135 std::cerr <<
"ERROR: " << std::endl;
136 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
144 main(
int argc,
const char ** argv)
148 if (getOptions(argc, argv) ==
false) {
157 std::cout << std::endl ;
158 std::cout <<
"-------------------------------------------------------" << std::endl ;
159 std::cout <<
" Test program for vpServo " <<std::endl ;
160 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl ;
161 std::cout <<
" Simulation " << std::endl ;
162 std::cout <<
" task : servo 4 points " << std::endl ;
163 std::cout <<
"-------------------------------------------------------" << std::endl ;
164 std::cout << std::endl ;
185 for (i = 0 ; i < 4 ; i++)
186 point[i].track(cMo) ;
190 for (i = 0 ; i < 4 ; i++)
218 for (i = 0 ; i < 4 ; i++)
227 unsigned int iter=0 ;
231 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
245 for (i = 0 ; i < 4 ; i++)
247 point[i].
track(cMo) ;
263 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() << std::endl;
272 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
Definition of the vpMatrix class.
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 set_eJe(const vpMatrix &eJe_)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
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.
vpColVector getError() const
vpColVector computeControlLaw()
void getPosition(vpHomogeneousMatrix &wMc) const
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
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...
void set_cVe(const vpVelocityTwistMatrix &cVe_)
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)
void get_eJe(vpMatrix &eJe)
void setServo(const vpServoType &servo_type)
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...