Only the X coordinate is selected (test the selection process).
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#define GETOPTARGS "h"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Simulation of a 2D visual servoing on a point:\n\
- eye-in-hand control law,\n\
- articular velocity are computed,\n\
- without display,\n\
- only the X coordinate of the point is selected.\n\
\n\
SYNOPSIS\n\
%s [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv)
{
const char *optarg_;
int c;
switch (c) {
case 'h':
usage(argv[0], nullptr);
return false;
default:
usage(argv[0], optarg_);
return false;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], nullptr);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
try {
if (getOptions(argc, argv) == false) {
return EXIT_FAILURE;
}
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a point " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
cMo[0][3] = 0.1;
cMo[1][3] = 0.2;
cMo[2][3] = 2;
wMo = wMc * cMo;
point.track(cMo);
unsigned int iter = 0;
while (iter++ < 100) {
std::cout << "---------------------------------------------" << iter << std::endl;
robot.getPosition(wMc);
point.track(cMo);
std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
}
return EXIT_SUCCESS;
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
}
#else
(void)argc;
(void)argv;
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
return EXIT_SUCCESS;
#endif
}
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)
static unsigned int selectX()
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 setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) override
void get_eJe(vpMatrix &eJe) override
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.