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Visual Servoing Platform
version 3.2.0
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52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpMath.h>
54 #include <visp3/core/vpSphere.h>
55 #include <visp3/io/vpParseArgv.h>
56 #include <visp3/robot/vpSimulatorCamera.h>
57 #include <visp3/visual_features/vpFeatureBuilder.h>
58 #include <visp3/visual_features/vpFeatureEllipse.h>
59 #include <visp3/vs/vpServo.h>
62 #define GETOPTARGS "h"
64 void usage(
const char *name,
const char *badparam);
65 bool getOptions(
int argc,
const char **argv);
75 void usage(
const char *name,
const char *badparam)
78 Simulation of a 2D visual servoing on a sphere:\n\
79 - eye-in-hand control law,\n\
80 - velocity computed in the camera frame,\n\
93 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
106 bool getOptions(
int argc,
const char **argv)
114 usage(argv[0], NULL);
119 usage(argv[0], optarg_);
125 if ((c == 1) || (c == -1)) {
127 usage(argv[0], NULL);
128 std::cerr <<
"ERROR: " << std::endl;
129 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
136 int main(
int argc,
const char **argv)
140 if (getOptions(argc, argv) ==
false) {
147 std::cout << std::endl;
148 std::cout <<
"-------------------------------------------------------" << std::endl;
149 std::cout <<
" Test program for vpServo " << std::endl;
150 std::cout <<
" Simulation " << std::endl;
151 std::cout <<
" task : servo a sphere " << std::endl;
152 std::cout <<
"-------------------------------------------------------" << std::endl;
153 std::cout << std::endl;
199 unsigned int iter = 0;
201 while (iter++ < 200) {
202 std::cout <<
"---------------------------------------------" << iter << std::endl;
217 std::cout <<
"Task rank: " << task.
getTaskRank() << std::endl;
221 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
229 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines the simplest robot: a free flying camera.
Implementation of column vector and the associated operations.
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)
void setWorldCoordinates(const vpColVector &oP)
vpColVector getError() const
unsigned int getTaskRank() const
Class that defines what is a sphere.
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpHomogeneousMatrix inverse() const
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)