#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpPlot.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
#endif
try {
for (unsigned int i = 0; i < 4; i++) {
}
robot.setSamplingTime(0.040);
wMo = wMc * cMo;
#ifdef VISP_HAVE_DISPLAY
vpPlot plotter(2, 250 * 2, 500, 100, 200,
"Real time curves plotter");
plotter.
setTitle(0,
"Visual features error");
plotter.
setTitle(1,
"Camera velocities");
#endif
unsigned int iter = 0;
while (1) {
robot.getPosition(wMc);
for (unsigned int i = 0; i < 4; i++) {
}
#ifdef VISP_HAVE_DISPLAY
plotter.
plot(1, iter, v);
#endif
if ((task.
getError()).sumSquare() < 0.0001)
break;
iter++;
}
std::cout << "Convergence in " << iter << " iterations" << std::endl;
#ifdef VISP_HAVE_DISPLAY
#endif
}
std::cout << "Catch an exception: " << e << std::endl;
}
}
Implementation of column vector and the associated operations.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
vpImage< unsigned char > I
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setTitle(unsigned int graphNum, const std::string &title)
void saveData(unsigned int graphNum, const std::string &dataFile, const std::string &title_prefix="")
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
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 setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
VISP_EXPORT int wait(double t0, double t)