Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
testFeature.cpp
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30  *
31  * Description:
32  * Visual feature manipulation.
33  *
34  * Author:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <visp3/blob/vpDot2.h>
40 #include <visp3/core/vpCameraParameters.h>
41 #include <visp3/core/vpColVector.h>
42 #include <visp3/core/vpHomogeneousMatrix.h>
43 #include <visp3/core/vpRotationMatrix.h>
44 #include <visp3/core/vpTranslationVector.h>
45 #include <visp3/visual_features/vpFeatureBuilder.h>
46 #include <visp3/visual_features/vpFeaturePoint.h>
47 #include <visp3/visual_features/vpFeatureThetaU.h>
48 #include <visp3/visual_features/vpGenericFeature.h>
49 #include <visp3/vs/vpServo.h>
50 
51 #include <iostream>
52 
60 int main()
61 {
62  try {
63  for (int i = 0; i < 3; i++) {
64  vpServo task;
65 
66  // Creation od a Theta U vector that represent the rotation
67  // between the desired camera frame and the current one.
68  vpThetaUVector tu_cdRc; // Current visual feature s
69  tu_cdRc[0] = 0.1;
70  tu_cdRc[1] = 0.2;
71  tu_cdRc[2] = 0.3;
72 
73  // Creation of the current feature s
75  s.buildFrom(tu_cdRc);
76  s.print();
77  task.addFeature(s); // Add current ThetaU feature
78 
79  // Creation of the desired feature s^*
80  vpFeatureThetaU s_star(vpFeatureThetaU::cdRc); // init to zero
81 
82  // Compute the interaction matrix for the ThetaU_z feature
83  vpMatrix L_z = s.interaction(vpFeatureThetaU::selectTUz());
84  // Compute the error vector (s-s^*) for the ThetaU_z feature
85  s.error(s_star, vpFeatureThetaU::selectTUz());
86 
87  std::cout << "End, call vpServo destructors..." << std::endl;
88  }
89  return 0;
90  } catch (const vpException &e) {
91  std::cout << "Catch an exception: " << e << std::endl;
92  return 1;
93  }
94 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
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
static unsigned int selectTUz()
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Implementation of a rotation vector as axis-angle minimal representation.