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Visual Servoing Platform
version 3.3.0
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62 #include <visp3/core/vpHomogeneousMatrix.h>
63 #include <visp3/core/vpIoTools.h>
64 #include <visp3/core/vpMath.h>
65 #include <visp3/io/vpParseArgv.h>
66 #include <visp3/robot/vpSimulatorCamera.h>
67 #include <visp3/visual_features/vpFeatureThetaU.h>
68 #include <visp3/visual_features/vpFeatureTranslation.h>
69 #include <visp3/vs/vpServo.h>
72 #define GETOPTARGS "h"
74 void usage(
const char *name,
const char *badparam);
75 bool getOptions(
int argc,
const char **argv);
85 void usage(
const char *name,
const char *badparam)
88 Simulation of a 3D visual servoing:\n\
89 - eye-in-hand control law,\n\
90 - velocity computed in the camera frame,\n\
103 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
115 bool getOptions(
int argc,
const char **argv)
123 usage(argv[0], NULL);
128 usage(argv[0], optarg_);
134 if ((c == 1) || (c == -1)) {
136 usage(argv[0], NULL);
137 std::cerr <<
"ERROR: " << std::endl;
138 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
145 int main(
int argc,
const char **argv)
149 if (getOptions(argc, argv) ==
false) {
157 std::string username;
162 std::string logdirname;
164 logdirname =
"C:/temp/" + username;
166 logdirname =
"/tmp/" + username;
174 std::cerr << std::endl <<
"ERROR:" << std::endl;
175 std::cerr <<
" Cannot create " << logdirname << std::endl;
179 std::string logfilename;
180 logfilename = logdirname +
"/log.dat";
183 std::ofstream flog(logfilename.c_str());
188 std::cout << std::endl;
189 std::cout <<
"-------------------------------------------------------" << std::endl;
190 std::cout <<
" Test program for vpServo " << std::endl;
191 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
192 std::cout <<
" Simulation " << std::endl;
193 std::cout <<
" task : 3D visual servoing " << std::endl;
194 std::cout <<
"-------------------------------------------------------" << std::endl;
195 std::cout << std::endl;
253 unsigned int iter = 0;
255 while (iter++ < 200) {
256 std::cout <<
"-----------------------------------" << iter << std::endl;
282 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
285 flog << v.
t() <<
" " << (task.
getError()).t() << std::endl;
297 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
static double rad(double deg)
Class that defines the translation visual feature .
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)
Implementation of a pose vector and operations on poses.
vpColVector getError() const
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
vpColVector computeControlLaw()
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.