57 #include <visp3/core/vpHomogeneousMatrix.h> 58 #include <visp3/core/vpMath.h> 59 #include <visp3/io/vpParseArgv.h> 60 #include <visp3/robot/vpSimulatorCamera.h> 61 #include <visp3/visual_features/vpFeatureBuilder.h> 62 #include <visp3/visual_features/vpFeaturePoint.h> 63 #include <visp3/vs/vpServo.h> 66 #define GETOPTARGS "h" 68 void usage(
const char *name,
const char *badparam);
69 bool getOptions(
int argc,
const char **argv);
79 void usage(
const char *name,
const char *badparam)
82 Simulation of a 2D visual servoing on a point:\n\ 83 - eye-in-hand control law,\n\ 84 - articular velocity are computed,\n\ 86 - only the X coordinate of the point is selected.\n\ 98 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
111 bool getOptions(
int argc,
const char **argv)
119 usage(argv[0], NULL);
124 usage(argv[0], optarg_);
130 if ((c == 1) || (c == -1)) {
132 usage(argv[0], NULL);
133 std::cerr <<
"ERROR: " << std::endl;
134 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
141 int main(
int argc,
const char **argv)
145 if (getOptions(argc, argv) ==
false) {
152 std::cout << std::endl;
153 std::cout <<
"-------------------------------------------------------" << std::endl;
154 std::cout <<
" Test program for vpServo " << std::endl;
155 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl;
156 std::cout <<
" Simulation " << std::endl;
157 std::cout <<
" task : servo a point " << std::endl;
158 std::cout <<
"-------------------------------------------------------" << std::endl;
159 std::cout << std::endl;
210 unsigned int iter = 0;
212 while (iter++ < 100) {
213 std::cout <<
"---------------------------------------------" << iter << std::endl;
236 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
244 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
Implementation of a matrix and operations on matrices.
void buildFrom(double x, double y, double Z)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_eJe(const vpMatrix &eJe_)
error that can be emited by ViSP classes.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
vpHomogeneousMatrix getPosition() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines what is a point.
vpColVector computeControlLaw()
static unsigned int selectX()
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpColVector getError() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void get_eJe(vpMatrix &eJe)
void setServo(const vpServoType &servo_type)