#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeaturePoint3D.h>
#include <visp3/vs/vpServo.h>
#define GETOPTARGS "h"
#ifdef ENABLE_VISP_NAMESPACE
#endif
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 3D visual servoing:\n\
- servo a 3D point,\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- without display.\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, velocity computed in the camera frame" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a 3D 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);
std::cout << "Point coordinates in the camera frame: " << point.cP.t();
std::cout << std::endl;
unsigned int iter = 0;
while (iter++ < 200) {
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.
Class that defines the 3D point visual feature.
void set_XYZ(double X, double Y, double Z)
vpFeaturePoint3D & buildFrom(const vpPoint &p)
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)
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) VP_OVERRIDE
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.