Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
servoSimuThetaUCamVelocity.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Simulation of a visual servoing using theta U visual features.
33  * tests the control law
34  * eye-in-hand control
35  * velocity computed in the camera frame
36  * using theta U visual feature
37  *
38  * Authors:
39  * Eric Marchand
40  * Fabien Spindler
41  *
42  *****************************************************************************/
43 
52 #include <stdio.h>
53 #include <stdlib.h>
54 
55 #include <visp3/core/vpHomogeneousMatrix.h>
56 #include <visp3/core/vpMath.h>
57 #include <visp3/io/vpParseArgv.h>
58 #include <visp3/robot/vpSimulatorCamera.h>
59 #include <visp3/visual_features/vpFeatureThetaU.h>
60 #include <visp3/visual_features/vpFeatureTranslation.h>
61 #include <visp3/vs/vpServo.h>
62 
63 // List of allowed command line options
64 #define GETOPTARGS "h"
65 void usage(const char *name, const char *badparam);
66 bool getOptions(int argc, const char **argv);
75 void usage(const char *name, const char *badparam)
76 {
77  fprintf(stdout, "\n\
78 Simulation of avisual servoing using theta U visual feature:\n\
79 - eye-in-hand control law,\n\
80 - velocity computed in the camera frame,\n\
81 - without display.\n\
82  \n\
83 SYNOPSIS\n\
84  %s [-h]\n",
85  name);
86 
87  fprintf(stdout, "\n\
88 OPTIONS: Default\n\
89  \n\
90  -h\n\
91  Print the help.\n");
92 
93  if (badparam)
94  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
95 }
96 
107 bool getOptions(int argc, const char **argv)
108 {
109  const char *optarg_;
110  int c;
111  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
112 
113  switch (c) {
114  case 'h':
115  usage(argv[0], NULL);
116  return false;
117 
118  default:
119  usage(argv[0], optarg_);
120  return false;
121  }
122  }
123 
124  if ((c == 1) || (c == -1)) {
125  // standalone param or error
126  usage(argv[0], NULL);
127  std::cerr << "ERROR: " << std::endl;
128  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
129  return false;
130  }
131 
132  return true;
133 }
134 
135 int main(int argc, const char **argv)
136 {
137 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
138  try {
139  // Read the command line options
140  if (getOptions(argc, argv) == false) {
141  exit(-1);
142  }
143 
144  vpServo task;
145  vpSimulatorCamera robot;
146 
147  std::cout << std::endl;
148  std::cout << "-------------------------------------------------------" << std::endl;
149  std::cout << " Test program for vpServo " << std::endl;
150  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
151  std::cout << " Simulation " << std::endl;
152  std::cout << " task : servo using theta U visual feature " << std::endl;
153  std::cout << "-------------------------------------------------------" << std::endl;
154  std::cout << std::endl;
155 
156  // sets the initial camera location
157  vpPoseVector c_r_o(0.1, 0.2, 2, vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
158 
159  vpHomogeneousMatrix cMo(c_r_o);
160  // Compute the position of the object in the world frame
161  vpHomogeneousMatrix wMc, wMo;
162  robot.getPosition(wMc);
163  wMo = wMc * cMo;
164 
165  // sets the desired camera location
166  vpPoseVector cd_r_o(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
167  vpHomogeneousMatrix cdMo(cd_r_o);
168 
169  // compute the rotation that the camera has to realize
170  vpHomogeneousMatrix cdMc;
171  cdMc = cdMo * cMo.inverse();
173  tu.buildFrom(cdMc);
174 
175  // define the task
176  // - we want an eye-in-hand control law
177  // - robot is controlled in the camera frame
180 
181  task.addFeature(tu);
182 
183  // - set the gain
184  task.setLambda(1);
185 
186  // Display task information
187  task.print();
188 
189  unsigned int iter = 0;
190  // loop
191  while (iter++ < 200) {
192  std::cout << "---------------------------------------------" << iter << std::endl;
193  vpColVector v;
194 
195  // get the robot position
196  robot.getPosition(wMc);
197  // Compute the position of the object frame in the camera frame
198  cMo = wMc.inverse() * wMo;
199 
200  // new rotation to achieve
201  cdMc = cdMo * cMo.inverse();
202  tu.buildFrom(cdMc);
203 
204  // compute the control law
205  v = task.computeControlLaw();
206 
207  // send the camera velocity to the controller
209 
210  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
211  }
212 
213  // Display task information
214  task.print();
215  return EXIT_SUCCESS;
216  } catch (const vpException &e) {
217  std::cout << "Catch a ViSP exception: " << e << std::endl;
218  return EXIT_FAILURE;
219  }
220 #else
221  (void)argc;
222  (void)argv;
223  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
224  return EXIT_SUCCESS;
225 #endif
226 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
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)
Definition: vpMath.h:117
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:83
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:564
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:303
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:215
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
@ DESIRED
Definition: vpServo.h:186
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:487
Class that defines the simplest robot: a free flying camera.