48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMath.h>
50 #include <visp3/core/vpPoint.h>
51 #include <visp3/io/vpParseArgv.h>
52 #include <visp3/robot/vpSimulatorCamera.h>
53 #include <visp3/visual_features/vpFeatureBuilder.h>
54 #include <visp3/visual_features/vpFeaturePoint.h>
55 #include <visp3/visual_features/vpFeatureThetaU.h>
56 #include <visp3/visual_features/vpGenericFeature.h>
57 #include <visp3/vs/vpServo.h>
60 #define GETOPTARGS "h"
62 void usage(
const char *name,
const char *badparam);
63 bool getOptions(
int argc,
const char **argv);
73 void usage(
const char *name,
const char *badparam)
76 Simulation of a 2 1/2 D visual servoing (x,y,logZ, theta U):\n\
77 - eye-in-hand control law,\n\
78 - velocity computed in the camera frame,\n\
92 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
104 bool getOptions(
int argc,
const char **argv)
112 usage(argv[0],
nullptr);
116 usage(argv[0], optarg_);
121 if ((c == 1) || (c == -1)) {
123 usage(argv[0],
nullptr);
124 std::cerr <<
"ERROR: " << std::endl;
125 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
132 int main(
int argc,
const char **argv)
134 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
137 if (getOptions(argc, argv) ==
false) {
141 std::cout << std::endl;
142 std::cout <<
"-------------------------------------------------------" << std::endl;
143 std::cout <<
" simulation of a 2 1/2 D visual servoing " << std::endl;
144 std::cout <<
"-------------------------------------------------------" << std::endl;
145 std::cout << std::endl;
170 robot.getPosition(wMc);
288 unsigned int iter = 0;
290 while (iter++ < 200) {
291 std::cout <<
"---------------------------------------------" << iter << std::endl;
295 robot.getPosition(wMc);
313 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
319 std::cout <<
"Final camera location: \n" << cMo << std::endl;
322 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
328 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...
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Class that defines the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
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 ...
Implementation of a pose vector and operations on poses.
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 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.