50 #include <visp3/visual_features/vpFeatureBuilder.h> 51 #include <visp3/visual_features/vpFeaturePoint.h> 52 #include <visp3/core/vpHomogeneousMatrix.h> 53 #include <visp3/core/vpMath.h> 54 #include <visp3/io/vpParseArgv.h> 55 #include <visp3/vs/vpServo.h> 56 #include <visp3/robot/vpSimulatorCamera.h> 59 #define GETOPTARGS "h" 61 void usage(
const char *name,
const char *badparam);
62 bool getOptions(
int argc,
const char **argv);
72 void usage(
const char *name,
const char *badparam)
75 Simulation of a 2D visual servoing on a point:\n\ 76 - eye-in-hand control law,\n\ 77 - velocity computed in the camera frame,\n\ 90 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
103 bool getOptions(
int argc,
const char **argv)
110 case 'h': usage(argv[0], NULL);
return false;
break;
113 usage(argv[0], optarg_);
118 if ((c == 1) || (c == -1)) {
120 usage(argv[0], NULL);
121 std::cerr <<
"ERROR: " << std::endl;
122 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
130 main(
int argc,
const char ** argv)
134 if (getOptions(argc, argv) ==
false) {
172 std::cout << std::endl ;
181 unsigned int iter=0 ;
185 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
204 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
213 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.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
vpHomogeneousMatrix getPosition() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines what is a point.
vpColVector computeControlLaw()
void buildFrom(const double x, const double y, const double Z)
Implementation of column vector and the associated operations.
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpColVector getError() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)