Interaction matrix is computed as the mean of the current and desired interaction matrix.
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpProjectionDisplay.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePointPolar.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#define GETOPTARGS "cdh"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Tests a control law with the following characteristics:\n\
- eye-in-hand control\n\
- articular velocity are computed\n\
- servo on 4 points,\n\
- internal and external camera view displays.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-c\n\
Disable the mouse click. Useful to automaze the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'h':
usage(argv[0], NULL);
return false;
break;
default:
usage(argv[0], optarg_);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
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)
{
try {
std::string username;
std::string logdirname;
#if defined(_WIN32)
logdirname = "C:/temp/" + username;
#else
logdirname = "/tmp/" + username;
#endif
try {
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
exit(-1);
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
std::ofstream flog(logfilename.c_str());
bool opt_click_allowed = true;
bool opt_display = true;
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit(-1);
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#endif
if (opt_display) {
displayInt.
init(Iint, 0, 0,
"Internal view");
displayExt.
init(Iext, 330, 000,
"External view");
}
double px, py;
px = py = 500;
double u0, v0;
u0 = 150, v0 = 160;
int i;
std::cout << std::endl;
std::cout << "----------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo 4 points " << std::endl;
std::cout << "----------------------------------------------" << std::endl;
std::cout << std::endl;
#define COMPLEX
#if defined(TRANS_Z_PURE)
#elif defined(TRANS_X_PURE)
#elif defined(ROT_Z_PURE)
#elif defined(ROT_X_PURE)
#elif defined(COMPLEX)
#elif defined(PROBLEM)
#endif
wMo = wMc * cMo;
for (i = 0; i < 4; i++)
externalview.
insert(point[i]);
for (i = 0; i < 4; i++) {
}
for (i = 0; i < 4; i++)
point[i].track(cMo);
for (i = 0; i < 4; i++) {
}
for (i = 0; i < 4; i++)
std::cout << "\nDisplay task information: " << std::endl;
unsigned int iter = 0;
while (iter++ < 200) {
std::cout << "---------------------------------------------" << iter << std::endl;
for (i = 0; i < 4; i++) {
}
if (opt_display) {
}
if (iter == 1) {
std::cout << "Display task information: " << std::endl;
}
flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
std::cout <<
"v: " << v.
t() << std::endl;
std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
for (i = 0; i < 4; i++) {
}
for (i = 0; i < 4; i++) {
flog << point[i].
get_x() <<
" " << point[i].
get_y() <<
" ";
}
flog << std::endl;
if (iter == 1) {
std::cout << "\nClick in the internal camera view to continue..." << std::endl;
}
}
flog.close();
std::cout << "Final robot position with respect to the object frame:\n";
cMo.print();
if (opt_display && opt_click_allowed) {
std::cout << "\n\nClick in the internal view to end..." << std::endl;
}
return EXIT_SUCCESS;
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif