57 #include <visp3/core/vpHomogeneousMatrix.h>
58 #include <visp3/core/vpIoTools.h>
59 #include <visp3/core/vpMath.h>
60 #include <visp3/io/vpParseArgv.h>
61 #include <visp3/robot/vpSimulatorCamera.h>
62 #include <visp3/visual_features/vpFeatureThetaU.h>
63 #include <visp3/visual_features/vpFeatureTranslation.h>
64 #include <visp3/vs/vpServo.h>
67 #define GETOPTARGS "h"
69 void usage(
const char *name,
const char *badparam);
70 bool getOptions(
int argc,
const char **argv);
80 void usage(
const char *name,
const char *badparam)
83 Simulation of a 3D visual servoing:\n\
84 - eye-in-hand control law,\n\
85 - velocity computed in the camera frame,\n\
99 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
111 bool getOptions(
int argc,
const char **argv)
119 usage(argv[0],
nullptr);
123 usage(argv[0], optarg_);
128 if ((c == 1) || (c == -1)) {
130 usage(argv[0],
nullptr);
131 std::cerr <<
"ERROR: " << std::endl;
132 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
139 int main(
int argc,
const char **argv)
141 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
144 if (getOptions(argc, argv) ==
false) {
152 std::string username;
157 std::string logdirname;
159 logdirname =
"C:/temp/" + username;
161 logdirname =
"/tmp/" + username;
170 std::cerr << std::endl <<
"ERROR:" << std::endl;
171 std::cerr <<
" Cannot create " << logdirname << std::endl;
175 std::string logfilename;
176 logfilename = logdirname +
"/log.dat";
179 std::ofstream flog(logfilename.c_str());
184 std::cout << std::endl;
185 std::cout <<
"-------------------------------------------------------" << std::endl;
186 std::cout <<
" Test program for vpServo " << std::endl;
187 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
188 std::cout <<
" Simulation " << std::endl;
189 std::cout <<
" task : 3D visual servoing " << std::endl;
190 std::cout <<
"-------------------------------------------------------" << std::endl;
191 std::cout << std::endl;
204 robot.getPosition(wMc);
252 unsigned int iter = 0;
254 while (iter++ < 200) {
255 std::cout <<
"------------------------------------" << iter << std::endl;
259 robot.getPosition(wMc);
281 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
284 flog << v.
t() <<
" " << (task.
getError()).t() << std::endl;
296 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
302 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Class that defines the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.