Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
servoSimuCircle2DCamVelocity.cpp
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2  *
3  * ViSP, open source Visual Servoing Platform software.
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13  * For using ViSP with software that can not be combined with the GNU
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18  *
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Simulation of a 2D visual servoing on a circle.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
57 #include <stdio.h>
58 #include <stdlib.h>
59 
60 #include <visp3/core/vpCircle.h>
61 #include <visp3/core/vpHomogeneousMatrix.h>
62 #include <visp3/core/vpMath.h>
63 #include <visp3/io/vpParseArgv.h>
64 #include <visp3/robot/vpSimulatorCamera.h>
65 #include <visp3/visual_features/vpFeatureBuilder.h>
66 #include <visp3/visual_features/vpFeatureEllipse.h>
67 #include <visp3/vs/vpServo.h>
68 
69 // List of allowed command line options
70 #define GETOPTARGS "h"
71 
72 void usage(const char *name, const char *badparam);
73 bool getOptions(int argc, const char **argv);
74 
83 void usage(const char *name, const char *badparam)
84 {
85  fprintf(stdout, "\n\
86 Simulation of a 2D visual servoing on a circle:\n\
87 - eye-in-hand control law,\n\
88 - velocity computed in the camera frame,\n\
89 - without display.\n\
90  \n\
91 SYNOPSIS\n\
92  %s [-h]\n", name);
93 
94  fprintf(stdout, "\n\
95 OPTIONS: Default\n\
96  \n\
97  -h\n\
98  Print the help.\n");
99 
100  if (badparam)
101  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
102 }
103 
113 bool getOptions(int argc, const char **argv)
114 {
115  const char *optarg_;
116  int c;
117  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
118 
119  switch (c) {
120  case 'h':
121  usage(argv[0], NULL);
122  return false;
123 
124  default:
125  usage(argv[0], optarg_);
126  return false;
127  }
128  }
129 
130  if ((c == 1) || (c == -1)) {
131  // standalone param or error
132  usage(argv[0], NULL);
133  std::cerr << "ERROR: " << std::endl;
134  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
135  return false;
136  }
137 
138  return true;
139 }
140 
141 int main(int argc, const char **argv)
142 {
143 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
144  try {
145  // Read the command line options
146  if (getOptions(argc, argv) == false) {
147  exit(-1);
148  }
149 
150  vpServo task;
151  vpSimulatorCamera robot;
152 
153  std::cout << std::endl;
154  std::cout << "-------------------------------------------------------" << std::endl;
155  std::cout << " Test program for vpServo " << std::endl;
156  std::cout << " Simulation " << std::endl;
157  std::cout << " task : servo a circle " << std::endl;
158  std::cout << "-------------------------------------------------------" << std::endl;
159  std::cout << std::endl;
160 
161  // sets the initial camera location
163  cMo[0][3] = 0.1;
164  cMo[1][3] = 0.2;
165  cMo[2][3] = 2;
166 
167  vpHomogeneousMatrix wMc, wMo;
168  robot.getPosition(wMc);
169  wMo = wMc * cMo; // Compute the position of the object in the world frame
170 
171  vpHomogeneousMatrix cMod;
172  cMod[0][3] = 0;
173  cMod[1][3] = 0;
174  cMod[2][3] = 1;
175 
176  // sets the circle coordinates in the world frame
177  vpCircle circle;
178  circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);
179 
180  // sets the desired position of the visual feature
181  vpFeatureEllipse pd;
182  circle.track(cMod);
183  vpFeatureBuilder::create(pd, circle);
184 
185  // project : computes the circle coordinates in the camera frame and its
186  // 2D coordinates
187 
188  // sets the current position of the visual feature
190  circle.track(cMo);
191  vpFeatureBuilder::create(p, circle);
192 
193  // define the task
194  // - we want an eye-in-hand control law
195  // - robot is controlled in the camera frame
197 
198  // - we want to see a circle on a circle
199  std::cout << std::endl;
200  task.addFeature(p, pd);
201 
202  // - set the gain
203  task.setLambda(1);
204 
205  // Display task information
206  task.print();
207 
208  unsigned int iter = 0;
209  // loop
210  while (iter++ < 500) {
211  std::cout << "---------------------------------------------" << iter << std::endl;
212  vpColVector v;
213 
214  // get the robot position
215  robot.getPosition(wMc);
216  // Compute the position of the object frame in the camera frame
217  cMo = wMc.inverse() * wMo;
218 
219  // new circle position: retrieve x,y and Z of the vpCircle structure
220  circle.track(cMo);
221  vpFeatureBuilder::create(p, circle);
222 
223  // compute the control law
224  v = task.computeControlLaw();
225  std::cout << "task rank: " << task.getTaskRank() << std::endl;
226  // send the camera velocity to the controller
228 
229  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
230  }
231 
232  // Display task information
233  task.print();
234  return EXIT_SUCCESS;
235  } catch (const vpException &e) {
236  std::cout << "Catch a ViSP exception: " << e << std::endl;
237  return EXIT_FAILURE;
238  }
239 #else
240  (void)argc;
241  (void)argv;
242  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
243  return EXIT_SUCCESS;
244 #endif
245 }
unsigned int getTaskRank() const
Definition: vpServo.cpp:1786
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)
Definition: vpServo.cpp:490
error that can be emited by ViSP classes.
Definition: vpException.h:71
void track(const vpHomogeneousMatrix &cMo)
vpHomogeneousMatrix inverse() const
vpHomogeneousMatrix getPosition() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void setLambda(double c)
Definition: vpServo.h:404
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
vpColVector getError() const
Definition: vpServo.h:278
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:91
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:60