54 #include <visp/vpConfig.h>
55 #include <visp/vpDebug.h>
58 #if (defined(VISP_HAVE_COIN_AND_GUI))
60 #include <visp/vpImage.h>
61 #include <visp/vpCameraParameters.h>
62 #include <visp/vpTime.h>
63 #include <visp/vpSimulator.h>
66 #include <visp/vpMath.h>
67 #include <visp/vpHomogeneousMatrix.h>
68 #include <visp/vpFeaturePoint.h>
69 #include <visp/vpServo.h>
70 #include <visp/vpRobotCamera.h>
71 #include <visp/vpFeatureBuilder.h>
72 #include <visp/vpParseArgv.h>
73 #include <visp/vpIoTools.h>
76 void *mainLoop (
void *_simu)
115 for (
int i = 0 ; i < 4 ; i++)
116 point[i].project(cMo_d) ;
120 for (
int i = 0 ; i < 4 ; i++)
129 for (
int i = 0 ; i < 4 ; i++)
130 point[i].project(cMo) ;
134 for (
int i = 0 ; i < 4 ; i++)
155 for (
int i = 0 ; i < 4 ; i++)
171 for (
int i = 0 ; i < 4 ; i++)
223 std::cout <<
"Load : ./4Points.iv" << std::endl
224 <<
"This file should be in the working directory" << std::endl;
225 simu.
load(
"./4points.iv") ;
237 vpTRACE(
"You should install Coin3D and/or GTK") ;
Definition of the vpMatrix class.
virtual void initInternalViewer(const unsigned int nlig, const unsigned int ncol)
initialize the camera view
void setCameraPosition(vpHomogeneousMatrix &cMf)
set the camera position (from an homogeneous matrix)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void setPosition(const vpHomogeneousMatrix &cMw)
Implementation of a simulator based on Coin3d (www.coin3d.org).
void closeMainApplication()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
void setLambda(double _lambda)
set the gain lambda
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void getCameraParameters(vpCameraParameters &cam)
get the intrinsic parameters of the camera
static double measureTimeMs()
virtual void mainLoop()
activate the mainloop
static int wait(double t0, double t)
void set_cVe(vpVelocityTwistMatrix &_cVe)
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
void kill()
destruction (memory deallocation if required)
void initApplication(void *(*start_routine)(void *))
begin the main program
vpColVector computeControlLaw()
compute the desired control law
Class that defines the simplest robot: a free flying camera.
void setInternalCameraParameters(vpCameraParameters &cam)
set internal camera parameters
void set_eJe(vpMatrix &_eJe)
Generic class defining intrinsic camera parameters.
void load(const char *file_name)
load an iv file
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)
Set the type of the interaction matrix (current, mean, desired, user).
static double rad(double deg)
void getPosition(vpHomogeneousMatrix &cMw) const
void initMainApplication()
perform some initialization in the main program thread
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 print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class required to compute the visual servoing control law descbribed in and .
void initExternalViewer(const unsigned int nlig, const unsigned int ncol)
initialize the external view
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
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...