Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
servoSimuSphere2DCamVelocity.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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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 sphere.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
49 #include <stdio.h>
50 #include <stdlib.h>
51 
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>
60 
61 // List of allowed command line options
62 #define GETOPTARGS "h"
63 
64 void usage(const char *name, const char *badparam);
65 bool getOptions(int argc, const char **argv);
66 
75 void usage(const char *name, const char *badparam)
76 {
77  fprintf(stdout, "\n\
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\
81 - without display.\n\
82  \n\
83 SYNOPSIS\n\
84  %s [-h]\n", name);
85 
86  fprintf(stdout, "\n\
87 OPTIONS: Default\n\
88  \n\
89  -h\n\
90  Print the help.\n");
91 
92  if (badparam)
93  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
94 }
95 
106 bool getOptions(int argc, const char **argv)
107 {
108  const char *optarg_;
109  int c;
110  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
111 
112  switch (c) {
113  case 'h':
114  usage(argv[0], NULL);
115  return false;
116 
117  default:
118  usage(argv[0], optarg_);
119  return false;
120  }
121  }
122 
123  if ((c == 1) || (c == -1)) {
124  // standalone param or error
125  usage(argv[0], NULL);
126  std::cerr << "ERROR: " << std::endl;
127  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
128  return false;
129  }
130 
131  return true;
132 }
133 
134 int main(int argc, const char **argv)
135 {
136 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
137  try {
138  // Read the command line options
139  if (getOptions(argc, argv) == false) {
140  exit(-1);
141  }
142 
143  vpServo task;
144  vpSimulatorCamera robot;
145 
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;
153 
154  // sets the initial camera location
156  cMo[0][3] = 0.1;
157  cMo[1][3] = 0.2;
158  cMo[2][3] = 2;
159  // Compute the position of the object in the world frame
160  vpHomogeneousMatrix wMc, wMo;
161  robot.getPosition(wMc);
162  wMo = wMc * cMo;
163 
164  vpHomogeneousMatrix cMod;
165  cMod[0][3] = 0;
166  cMod[1][3] = 0;
167  cMod[2][3] = 1;
168 
169  // sets the sphere coordinates in the world frame
170  vpSphere sphere;
171  sphere.setWorldCoordinates(0, 0, 0, 0.1);
172 
173  // sets the desired position of the visual feature
174  vpFeatureEllipse pd;
175  sphere.track(cMod);
176  vpFeatureBuilder::create(pd, sphere);
177 
178  // computes the sphere coordinates in the camera frame and its 2D
179  // coordinates sets the current position of the visual feature
181  sphere.track(cMo);
182  vpFeatureBuilder::create(p, sphere);
183 
184  // define the task
185  // - we want an eye-in-hand control law
186  // - robot is controlled in the camera frame
188 
189  // we want to see a sphere on a sphere
190  task.addFeature(p, pd);
191 
192  // set the gain
193  task.setLambda(1);
194 
195  // Display task information
196  task.print();
197 
198  unsigned int iter = 0;
199  // loop
200  while (iter++ < 200) {
201  std::cout << "---------------------------------------------" << iter << std::endl;
202  vpColVector v;
203 
204  // get the robot position
205  robot.getPosition(wMc);
206  // Compute the position of the object frame in the camera frame
207  cMo = wMc.inverse() * wMo;
208 
209  // new sphere position: retrieve x,y and Z of the vpSphere structure
210  sphere.track(cMo);
211  vpFeatureBuilder::create(p, sphere);
212 
213  // compute the control law
214  v = task.computeControlLaw();
215 
216  std::cout << "Task rank: " << task.getTaskRank() << std::endl;
217  // send the camera velocity to the controller
219 
220  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
221  }
222 
223  // Display task information
224  task.print();
225  return EXIT_SUCCESS;
226  } catch (const vpException &e) {
227  std::cout << "Catch a ViSP exception: " << e << std::endl;
228  return EXIT_FAILURE;
229  }
230 #else
231  (void)argc;
232  (void)argv;
233  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
234  return EXIT_SUCCESS;
235 #endif
236 }
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
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:82
void setWorldCoordinates(const vpColVector &oP)
Definition: vpSphere.cpp:62
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)
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218