Visual Servoing Platform  version 3.5.1 under development (2022-07-05)

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

* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
* See for more information.
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* If you have questions regarding the use of this file, please contact
* Inria at
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Visual feature manipulation.
* Author:
* Fabien Spindler
#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;
return 0;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
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...
vpMatrix interaction(unsigned int select=FEATURE_ALL)
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
void buildFrom(vpThetaUVector &tu)
static unsigned int selectTUz()
void print(unsigned int select=FEATURE_ALL) const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:487
Implementation of a rotation vector as axis-angle minimal representation.