53 #include <visp3/core/vpConfig.h>
54 #include <visp3/core/vpHomogeneousMatrix.h>
55 #include <visp3/core/vpMath.h>
56 #include <visp3/io/vpParseArgv.h>
57 #include <visp3/robot/vpSimulatorCamera.h>
58 #include <visp3/visual_features/vpFeatureBuilder.h>
59 #include <visp3/visual_features/vpFeaturePoint.h>
60 #include <visp3/vs/vpServo.h>
63 #define GETOPTARGS "h"
65 void usage(
const char *name,
const char *badparam);
66 bool getOptions(
int argc,
const char **argv);
76 void usage(
const char *name,
const char *badparam)
79 Simulation of a 2D visual servoing:\n\
80 - servo on 4 points,\n\
81 - eye-in-hand control law,\n\
82 - articular velocity are computed,\n\
96 fprintf(stderr,
"ERROR: \n");
97 fprintf(stderr,
"\nBad 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) {
151 std::cout << std::endl;
152 std::cout <<
"-------------------------------------------------------" << std::endl;
153 std::cout <<
" Test program for vpServo " << std::endl;
154 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl;
155 std::cout <<
" Simulation " << std::endl;
156 std::cout <<
" task : servo 4 points " << std::endl;
157 std::cout <<
"-------------------------------------------------------" << std::endl;
158 std::cout << std::endl;
168 robot.getPosition(wMc);
180 for (
unsigned int i = 0; i < 4; i++)
185 for (
unsigned int i = 0; i < 4; i++)
213 for (
unsigned int i = 0; i < 4; i++)
222 unsigned int iter = 0;
224 while (iter++ < 1500) {
225 std::cout <<
"---------------------------------------------" << iter << std::endl;
234 robot.getPosition(wMc);
239 for (
unsigned int i = 0; i < 4; i++) {
257 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
264 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
270 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.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
void get_eJe(vpMatrix &eJe) vp_override
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 set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.