Visual Servoing Platform  version 3.0.1
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Shows how to build a task with a $ \theta u $ visual feature.

* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 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 for more information.
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* If you have questions regarding the use of this file, please contact
* Inria at
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Visual feature manipulation.
* Author:
* Fabien Spindler
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/vs/vpServo.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpGenericFeature.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpCameraParameters.h>
#include <iostream>
int main()
try {
for (int i=0; i < 3; i++) {
vpServo task ;
// Creation od a Theta U vector that represent the rotation
// between the desired camera frame and the current one.
vpThetaUVector tu_cdRc; // Current visual feature s
tu_cdRc[0] =0.1;
tu_cdRc[1] =0.2;
tu_cdRc[2] =0.3;
// Creation of the current feature s
task.addFeature(s); // Add current ThetaU feature
// Creation of the desired feature s^*
vpFeatureThetaU s_star(vpFeatureThetaU::cdRc); // init to zero
// Compute the interaction matrix for the ThetaU_z feature
// Compute the error vector (s-s^*) for the ThetaU_z feature
// A call to kill() is requested here to destroy properly the current
// and desired feature lists.
std::cout << "End, call vpServo destructors..." << std::endl;
return 0;
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;