52 #include <visp3/core/vpHomogeneousMatrix.h> 53 #include <visp3/core/vpMath.h> 54 #include <visp3/core/vpSphere.h> 55 #include <visp3/io/vpParseArgv.h> 56 #include <visp3/robot/vpSimulatorCamera.h> 57 #include <visp3/visual_features/vpFeatureBuilder.h> 58 #include <visp3/visual_features/vpFeatureEllipse.h> 59 #include <visp3/vs/vpServo.h> 62 #define GETOPTARGS "h" 64 void usage(
const char *name,
const char *badparam);
65 bool getOptions(
int argc,
const char **argv);
75 void usage(
const char *name,
const char *badparam)
78 Simulation of a 2D visual servoing on a sphere:\n\ 79 - eye-in-hand control law,\n\ 80 - velocity computed in the camera frame,\n\ 93 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
106 bool getOptions(
int argc,
const char **argv)
114 usage(argv[0], NULL);
118 usage(argv[0], optarg_);
123 if ((c == 1) || (c == -1)) {
125 usage(argv[0], NULL);
126 std::cerr <<
"ERROR: " << std::endl;
127 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
134 int main(
int argc,
const char **argv)
136 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 139 if (getOptions(argc, argv) ==
false) {
146 std::cout << std::endl;
147 std::cout <<
"-------------------------------------------------------" << std::endl;
148 std::cout <<
" Test program for vpServo " << std::endl;
149 std::cout <<
" Simulation " << std::endl;
150 std::cout <<
" task : servo a sphere " << std::endl;
151 std::cout <<
"-------------------------------------------------------" << std::endl;
152 std::cout << std::endl;
198 unsigned int iter = 0;
200 while (iter++ < 200) {
201 std::cout <<
"---------------------------------------------" << iter << std::endl;
216 std::cout <<
"Task rank: " << task.
getTaskRank() << std::endl;
220 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
227 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
233 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
unsigned int getTaskRank() const
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)
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
vpHomogeneousMatrix inverse() const
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
void setWorldCoordinates(const vpColVector &oP)
vpHomogeneousMatrix getPosition() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpColVector computeControlLaw()
Implementation of column vector and the associated operations.
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpColVector getError() const
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)