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(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD)) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
#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/vpDisplayX.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorViper850.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.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 {
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_GDI
#elif defined VISP_HAVE_OPENCV
#endif
if (opt_display) {
displayInt.
init(Iint, 700, 0,
"Internal view");
}
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;
for (unsigned int i = 0; i < 4; i++)
point[i].track(cMo);
for (unsigned int i = 0; i < 4; i++)
for (unsigned int i = 0; i < 4; i++)
point[i].track(cdMo);
for (unsigned int i = 0; i < 4; i++)
for (unsigned int i = 0; i < 4; i++)
robot.initialiseObjectRelativeToCamera(cMo);
robot.setDesiredCameraPosition(cdMo);
robot.getCameraParameters(cam, Iint);
if (opt_display) {
robot.getInternalView(Iint);
}
unsigned int iter = 0;
while (iter++ < 500) {
std::cout << "---------------------------------------------" << iter << std::endl;
cMo = robot.get_cMo();
if (iter == 1) {
std::cout << "Initial robot position with respect to the object frame:\n";
}
for (unsigned int i = 0; i < 4; i++) {
}
if (opt_display) {
robot.getInternalView(Iint);
}
if (opt_display && opt_click_allowed && iter == 1) {
std::cout << "Click in the internal view window to continue..." << std::endl;
}
std::cout <<
"|| s - s* || " << (task.
getError()).sumSquare() << std::endl;
}
std::cout << "Final robot position with respect to the object frame:\n";
if (opt_display && opt_click_allowed) {
std::cout << "Click in the internal view window to end..." << std::endl;
}
return EXIT_SUCCESS;
}
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
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;
#else
std::cout << "You do not have threading capabilities" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install pthread, configure again ViSP using cmake and build again this example" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif