52 #include <visp/vpConfig.h>
53 #include <visp/vpDebug.h>
57 #include <visp/vpImage.h>
58 #include <visp/vpCameraParameters.h>
59 #include <visp/vpTime.h>
60 #include <visp/vpImage.h>
61 #include <visp/vpImageConvert.h>
62 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpMath.h>
65 #include <visp/vpHomogeneousMatrix.h>
66 #include <visp/vpPose.h>
67 #include <visp/vpFeaturePoint.h>
68 #include <visp/vpServo.h>
69 #include <visp/vpServoDisplay.h>
70 #include <visp/vpRobotCamera.h>
71 #include <visp/vpFeatureBuilder.h>
72 #include <visp/vpIoTools.h>
92 unsigned int height = 360 ;
93 unsigned int width = 480 ;
98 disp.
init(I,100,100,
"Simulation display");
114 for (
int i = 0 ; i < 4 ; i++)
115 point[i].project(cMo_d) ;
119 for (
int i = 0 ; i < 4 ; i++)
127 for (
int i = 0 ; i < 4 ; i++)
128 point[i].project(cMo) ;
132 for (
int i = 0 ; i < 4 ; i++)
153 for (
int i = 0 ; i < 4 ; i++)
171 for (
int i = 0 ; i < 4 ; i++)
202 std::cout <<
"Catch an exception: " << e << std::endl;
210 {
vpTRACE(
"You should install GTK") ;
Definition of the vpMatrix class.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void setPosition(const vpHomogeneousMatrix &cMw)
void set_eJe(const vpMatrix &eJe_)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static double measureTimeMs()
static int wait(double t0, double t)
static void flush(const vpImage< unsigned char > &I)
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
static void display(const vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void getPosition(vpHomogeneousMatrix &cMw) const
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void get_eJe(vpMatrix &eJe)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...