Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
servoSimuPoint2DCamVelocity1.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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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 *****************************************************************************/
35 
44 #include <stdio.h>
45 #include <stdlib.h>
46 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/io/vpParseArgv.h>
50 #include <visp3/robot/vpSimulatorCamera.h>
51 #include <visp3/visual_features/vpFeatureBuilder.h>
52 #include <visp3/visual_features/vpFeaturePoint.h>
53 #include <visp3/vs/vpServo.h>
54 
55 // List of allowed command line options
56 #define GETOPTARGS "h"
57 
58 void usage(const char *name, const char *badparam);
59 bool getOptions(int argc, const char **argv);
60 
69 void usage(const char *name, const char *badparam)
70 {
71  fprintf(stdout, "\n\
72 Simulation of a 2D visual servoing on a point:\n\
73 - eye-in-hand control law,\n\
74 - velocity computed in the camera frame,\n\
75 - without display.\n\
76  \n\
77 SYNOPSIS\n\
78  %s [-h]\n",
79  name);
80 
81  fprintf(stdout, "\n\
82 OPTIONS: Default\n\
83  \n\
84  -h\n\
85  Print the help.\n");
86 
87  if (badparam)
88  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
89 }
90 
101 bool getOptions(int argc, const char **argv)
102 {
103  const char *optarg_;
104  int c;
105  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
106 
107  switch (c) {
108  case 'h':
109  usage(argv[0], nullptr);
110  return false;
111 
112  default:
113  usage(argv[0], optarg_);
114  return false;
115  }
116  }
117 
118  if ((c == 1) || (c == -1)) {
119  // standalone param or error
120  usage(argv[0], nullptr);
121  std::cerr << "ERROR: " << std::endl;
122  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
123  return false;
124  }
125 
126  return true;
127 }
128 
129 int main(int argc, const char **argv)
130 {
131 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
132  try {
133  // Read the command line options
134  if (getOptions(argc, argv) == false) {
135  return EXIT_FAILURE;
136  }
137 
138  vpServo task;
139  vpSimulatorCamera robot;
140 
141  // sets the initial camera location
143  cMo[0][3] = 0.1;
144  cMo[1][3] = 0.2;
145  cMo[2][3] = 2;
146 
147  // Compute the position of the object in the world frame
148  vpHomogeneousMatrix wMc, wMo;
149  robot.getPosition(wMc);
150  wMo = wMc * cMo;
151 
152  // sets the point coordinates in the world frame
153  vpPoint point(0, 0, 0);
154 
155  // computes the point coordinates in the camera frame and its 2D
156  // coordinates
157  point.track(cMo);
158 
159  // sets the current position of the visual feature
160  vpFeaturePoint p;
161  vpFeatureBuilder::create(p, point); // retrieve x,y and Z of the vpPoint structure
162 
163  // sets the desired position of the visual feature
164  vpFeaturePoint pd;
165  pd.build(0, 0, 1); // build(x,y,Z) ;
166 
167  // define the task
168  // - we want an eye-in-hand control law
169  // - robot is controlled in the camera frame
171 
172  // we want to see a point on a point
173  std::cout << std::endl;
174  task.addFeature(p, pd);
175 
176  // set the gain
177  task.setLambda(1);
178 
179  // Display task information
180  task.print();
181 
182  unsigned int iter = 0;
183  // loop
184  while (iter++ < 100) {
185  std::cout << "---------------------------------------------" << iter << std::endl;
186  vpColVector v;
187 
188  // get the robot position
189  robot.getPosition(wMc);
190  // Compute the position of the object frame in the camera frame
191  cMo = wMc.inverse() * wMo;
192 
193  // new point position
194  point.track(cMo);
195  // retrieve x,y and Z of the vpPoint structure
196  vpFeatureBuilder::create(p, point);
197 
198  // compute the control law
199  v = task.computeControlLaw();
200 
201  // send the camera velocity to the controller
203 
204  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
205  }
206 
207  // Display task information
208  task.print();
209  return EXIT_SUCCESS;
210  }
211  catch (const vpException &e) {
212  std::cout << "Catch a ViSP exception: " << e << std::endl;
213  return EXIT_FAILURE;
214  }
215 #else
216  (void)argc;
217  (void)argv;
218  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
219  return EXIT_SUCCESS;
220 #endif
221 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
error that can be emitted by ViSP classes.
Definition: vpException.h:59
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...
vpFeaturePoint & build(const double &x, const double &y, const double &Z)
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)
Definition: vpParseArgv.cpp:69
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:329
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:169
void setLambda(double c)
Definition: vpServo.h:976
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:132
vpColVector getError() const
Definition: vpServo.h:504
vpColVector computeControlLaw()
Definition: vpServo.cpp:703
Class that defines the simplest robot: a free flying camera.