Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
servoSimuPoint2DCamVelocity1.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6  * This software is free software; you can redistribute it and/or modify
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11  * distribution for additional information about the GNU GPL.
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14  * GPL, please contact Inria about acquiring a ViSP Professional
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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23  * France
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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 point.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
48 #include <stdio.h>
49 #include <stdlib.h>
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/io/vpParseArgv.h>
54 #include <visp3/robot/vpSimulatorCamera.h>
55 #include <visp3/visual_features/vpFeatureBuilder.h>
56 #include <visp3/visual_features/vpFeaturePoint.h>
57 #include <visp3/vs/vpServo.h>
58 
59 // List of allowed command line options
60 #define GETOPTARGS "h"
61 
62 void usage(const char *name, const char *badparam);
63 bool getOptions(int argc, const char **argv);
64 
73 void usage(const char *name, const char *badparam)
74 {
75  fprintf(stdout, "\n\
76 Simulation of a 2D visual servoing on a point:\n\
77 - eye-in-hand control law,\n\
78 - velocity computed in the camera frame,\n\
79 - without display.\n\
80  \n\
81 SYNOPSIS\n\
82  %s [-h]\n", name);
83 
84  fprintf(stdout, "\n\
85 OPTIONS: Default\n\
86  \n\
87  -h\n\
88  Print the help.\n");
89 
90  if (badparam)
91  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
92 }
93 
104 bool getOptions(int argc, const char **argv)
105 {
106  const char *optarg_;
107  int c;
108  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
109 
110  switch (c) {
111  case 'h':
112  usage(argv[0], NULL);
113  return false;
114  break;
115 
116  default:
117  usage(argv[0], optarg_);
118  return false;
119  break;
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  try {
137  // Read the command line options
138  if (getOptions(argc, argv) == false) {
139  exit(-1);
140  }
141 
142  vpServo task;
143  vpSimulatorCamera robot;
144 
145  // sets the initial camera location
147  cMo[0][3] = 0.1;
148  cMo[1][3] = 0.2;
149  cMo[2][3] = 2;
150 
151  // Compute the position of the object in the world frame
152  vpHomogeneousMatrix wMc, wMo;
153  robot.getPosition(wMc);
154  wMo = wMc * cMo;
155 
156  // sets the point coordinates in the world frame
157  vpPoint point(0, 0, 0);
158 
159  // computes the point coordinates in the camera frame and its 2D
160  // coordinates
161  point.track(cMo);
162 
163  // sets the current position of the visual feature
164  vpFeaturePoint p;
165  vpFeatureBuilder::create(p, point); // retrieve x,y and Z of the vpPoint structure
166 
167  // sets the desired position of the visual feature
168  vpFeaturePoint pd;
169  pd.buildFrom(0, 0, 1); // buildFrom(x,y,Z) ;
170 
171  // define the task
172  // - we want an eye-in-hand control law
173  // - robot is controlled in the camera frame
175 
176  // we want to see a point on a point
177  std::cout << std::endl;
178  task.addFeature(p, pd);
179 
180  // set the gain
181  task.setLambda(1);
182 
183  // Display task information
184  task.print();
185 
186  unsigned int iter = 0;
187  // loop
188  while (iter++ < 100) {
189  std::cout << "---------------------------------------------" << iter << std::endl;
190  vpColVector v;
191 
192  // get the robot position
193  robot.getPosition(wMc);
194  // Compute the position of the object frame in the camera frame
195  cMo = wMc.inverse() * wMo;
196 
197  // new point position
198  point.track(cMo);
199  // retrieve x,y and Z of the vpPoint structure
200  vpFeatureBuilder::create(p, point);
201 
202  // compute the control law
203  v = task.computeControlLaw();
204 
205  // send the camera velocity to the controller
207 
208  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
209  }
210 
211  // Display task information
212  task.print();
213  task.kill();
214  return EXIT_SUCCESS;
215  } catch (const vpException &e) {
216  std::cout << "Catch a ViSP exception: " << e << std::endl;
217  return EXIT_FAILURE;
218  }
219 }
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, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:497
error that can be emited by ViSP classes.
Definition: vpException.h:71
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Class that defines what is a point.
Definition: vpPoint.h:58
void kill()
Definition: vpServo.cpp:192
vpColVector getError() const
Definition: vpServo.h:282
vpColVector computeControlLaw()
Definition: vpServo.cpp:935
void setLambda(double c)
Definition: vpServo.h:406
vpHomogeneousMatrix getPosition() const
void buildFrom(const double x, const double y, const double Z)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:313
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:223