Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
testFeature.cpp

Shows how to build a task with a $ \theta u $ visual feature.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
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* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
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*
* Description:
* Visual feature manipulation.
*
* Author:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpGenericFeature.h>
#include <visp3/vs/vpServo.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
s.buildFrom(tu_cdRc);
s.print();
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.
task.kill();
std::cout << "End, call vpServo destructors..." << std::endl;
}
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}