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Visual Servoing Platform
version 3.2.0
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57 #include <visp3/core/vpConfig.h>
58 #include <visp3/core/vpHomogeneousMatrix.h>
59 #include <visp3/core/vpMath.h>
60 #include <visp3/io/vpParseArgv.h>
61 #include <visp3/robot/vpSimulatorCamera.h>
62 #include <visp3/visual_features/vpFeatureBuilder.h>
63 #include <visp3/visual_features/vpFeaturePoint.h>
64 #include <visp3/vs/vpServo.h>
67 #define GETOPTARGS "h"
69 void usage(
const char *name,
const char *badparam);
70 bool getOptions(
int argc,
const char **argv);
80 void usage(
const char *name,
const char *badparam)
83 Simulation of a 2D visual servoing:\n\
84 - servo on 4 points,\n\
85 - eye-in-hand control law,\n\
86 - articular velocity are computed,\n\
99 fprintf(stderr,
"ERROR: \n");
100 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
114 bool getOptions(
int argc,
const char **argv)
122 usage(argv[0], NULL);
127 usage(argv[0], optarg_);
133 if ((c == 1) || (c == -1)) {
135 usage(argv[0], NULL);
136 std::cerr <<
"ERROR: " << std::endl;
137 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
144 int main(
int argc,
const char **argv)
148 if (getOptions(argc, argv) ==
false) {
156 std::cout << std::endl;
157 std::cout <<
"-------------------------------------------------------" << std::endl;
158 std::cout <<
" Test program for vpServo " << std::endl;
159 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl;
160 std::cout <<
" Simulation " << std::endl;
161 std::cout <<
" task : servo 4 points " << std::endl;
162 std::cout <<
"-------------------------------------------------------" << std::endl;
163 std::cout << std::endl;
185 for (i = 0; i < 4; i++)
190 for (i = 0; i < 4; i++)
218 for (i = 0; i < 4; i++)
227 unsigned int iter = 0;
229 while (iter++ < 1500) {
230 std::cout <<
"---------------------------------------------" << iter << std::endl;
244 for (i = 0; i < 4; i++) {
262 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
270 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
void setWorldCoordinates(const double oX, const double oY, const double oZ)
void buildFrom(const double x, const double y, const double Z)
void set_eJe(const vpMatrix &eJe_)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Class that defines the simplest robot: a free flying camera.
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpHomogeneousMatrix getPosition() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpColVector getError() const
void get_eJe(vpMatrix &eJe)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpHomogeneousMatrix inverse() const
Class that defines what is a point.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)