53 #include <visp3/visual_features/vpFeatureBuilder.h> 54 #include <visp3/visual_features/vpFeatureEllipse.h> 55 #include <visp3/core/vpHomogeneousMatrix.h> 56 #include <visp3/core/vpMath.h> 57 #include <visp3/io/vpParseArgv.h> 58 #include <visp3/vs/vpServo.h> 59 #include <visp3/core/vpSphere.h> 60 #include <visp3/robot/vpSimulatorCamera.h> 63 #define GETOPTARGS "h" 65 void usage(
const char *name,
const char *badparam);
66 bool getOptions(
int argc,
const char **argv);
76 void usage(
const char *name,
const char *badparam)
79 Simulation of a 2D visual servoing on a sphere:\n\ 80 - eye-in-hand control law,\n\ 81 - velocity computed in the camera frame,\n\ 83 - a secondary task is the added.\n\ 95 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
108 bool getOptions(
int argc,
const char **argv)
115 case 'h': usage(argv[0], NULL);
return false;
break;
118 usage(argv[0], optarg_);
123 if ((c == 1) || (c == -1)) {
125 usage(argv[0], NULL);
126 std::cerr <<
"ERROR: " << std::endl;
127 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
135 main(
int argc,
const char ** argv)
139 if (getOptions(argc, argv) ==
false) {
146 std::cout << std::endl ;
147 std::cout <<
"-------------------------------------------------------" << std::endl ;
148 std::cout <<
" Test program for vpServo " <<std::endl ;
149 std::cout <<
" Simulation " << std::endl ;
150 std::cout <<
" task : servo a sphere with a secondary task" << std::endl ;
151 std::cout <<
"-------------------------------------------------------" << std::endl ;
152 std::cout << std::endl ;
191 std::cout << std::endl ;
200 unsigned int iter=0 ;
204 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
224 std::cout <<
"de2dt :"<< de2dt.
t() << std::endl;
227 std::cout <<
"(I-WpW)de2dt :"<< sec.
t() << std::endl;
229 if (iter>20) v += sec ;
234 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
243 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
vpHomogeneousMatrix inverse() const
Class that defines what is a sphere.
void setWorldCoordinates(const vpColVector &oP)
vpHomogeneousMatrix getPosition() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
vpColVector computeControlLaw()
Implementation of column vector and the associated operations.
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpColVector getError() const
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)