56 #include <visp3/core/vpCircle.h>
57 #include <visp3/core/vpHomogeneousMatrix.h>
58 #include <visp3/core/vpMath.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/robot/vpSimulatorCamera.h>
61 #include <visp3/visual_features/vpFeatureBuilder.h>
62 #include <visp3/visual_features/vpFeatureEllipse.h>
63 #include <visp3/vs/vpServo.h>
66 #define GETOPTARGS "h"
68 void usage(
const char *name,
const char *badparam);
69 bool getOptions(
int argc,
const char **argv);
79 void usage(
const char *name,
const char *badparam)
82 Simulation of a 2D visual servoing on a circle:\n\
83 - eye-in-hand control law,\n\
84 - velocity computed in the camera frame,\n\
98 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
110 bool getOptions(
int argc,
const char **argv)
118 usage(argv[0],
nullptr);
122 usage(argv[0], optarg_);
127 if ((c == 1) || (c == -1)) {
129 usage(argv[0],
nullptr);
130 std::cerr <<
"ERROR: " << std::endl;
131 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
138 int main(
int argc,
const char **argv)
140 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
143 if (getOptions(argc, argv) ==
false) {
150 std::cout << std::endl;
151 std::cout <<
"-------------------------------------------------------" << std::endl;
152 std::cout <<
" Test program for vpServo " << std::endl;
153 std::cout <<
" Simulation " << std::endl;
154 std::cout <<
" task : servo a circle " << std::endl;
155 std::cout <<
"-------------------------------------------------------" << std::endl;
156 std::cout << std::endl;
165 robot.getPosition(wMc);
196 std::cout << std::endl;
205 unsigned int iter = 0;
207 while (iter++ < 500) {
208 std::cout <<
"---------------------------------------------" << iter << std::endl;
212 robot.getPosition(wMc);
222 std::cout <<
"task rank: " << task.
getTaskRank() << std::endl;
226 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
234 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
240 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
void setWorldCoordinates(const vpColVector &oP) vp_override
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
unsigned int getTaskRank() const
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.