Visual Servoing Platform  version 3.6.1 under development (2024-05-28)

Shows how to build a task with a $ \theta u $ visual feature.

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* Description:
* Visual feature manipulation.
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpGenericFeature.h>
#include <visp3/vs/vpServo.h>
#include <iostream>
int main()
try {
for (int i = 0; i < 3; i++) {
vpServo task;
// Creation od a Theta U vector that represent the rotation
// between the desired camera frame and the current one.
vpThetaUVector tu_cdRc; // Current visual feature s
tu_cdRc[0] = 0.1;
tu_cdRc[1] = 0.2;
tu_cdRc[2] = 0.3;
// Creation of the current feature s;
task.addFeature(s); // Add current ThetaU feature
// Creation of the desired feature s^*
vpFeatureThetaU s_star(vpFeatureThetaU::cdRc); // init to zero
// Compute the interaction matrix for the ThetaU_z feature
// Compute the error vector (s-s^*) for the ThetaU_z feature
std::cout << "End, call vpServo destructors..." << std::endl;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
error that can be emitted by ViSP classes.
Definition: vpException.h:59
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
vpFeatureThetaU & build(const vpThetaUVector &tu)
vpMatrix interaction(unsigned int select=FEATURE_ALL) vp_override
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL) vp_override
void print(unsigned int select=FEATURE_ALL) const vp_override
static unsigned int selectTUz()
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:329
Implementation of a rotation vector as axis-angle minimal representation.