44#include <visp3/core/vpConfig.h>
46#if defined(VISP_HAVE_MODULE_ROBOT) \
47 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
49#include <visp3/core/vpCameraParameters.h>
50#include <visp3/core/vpDisplay.h>
51#include <visp3/core/vpHomogeneousMatrix.h>
52#include <visp3/core/vpImage.h>
53#include <visp3/core/vpMath.h>
54#include <visp3/core/vpPoint.h>
55#include <visp3/gui/vpDisplayGDI.h>
56#include <visp3/gui/vpDisplayX.h>
57#include <visp3/gui/vpPlot.h>
58#include <visp3/io/vpParseArgv.h>
59#include <visp3/robot/vpSimulatorCamera.h>
60#include <visp3/visual_features/vpFeatureBuilder.h>
61#include <visp3/visual_features/vpFeatureSegment.h>
62#include <visp3/vs/vpServo.h>
71int main(
int argc,
const char **argv)
74#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
75 int opt_no_display = 0;
78 int opt_normalized = 1;
81 vpParseArgv::vpArgvInfo argTable[] = {
82#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
86 "1 to use normalized features, 0 for non normalized."},
98 std::cout <<
"Used options: " << std::endl;
99#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
100 opt_curves = (opt_no_display == 0) ? 1 : 0;
101 std::cout <<
" - no display: " << opt_no_display << std::endl;
102 std::cout <<
" - curves : " << opt_curves << std::endl;
104 std::cout <<
" - normalized: " << opt_normalized << std::endl;
108#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
110 if (!opt_no_display) {
111#if defined(VISP_HAVE_X11)
113#elif defined VISP_HAVE_GDI
120#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
137 for (
int i = 0; i < 4; i++) {
142 for (
int i = 0; i < 4; i++) {
148 for (
int i = 0; i < 2; i++) {
149 if (opt_normalized) {
168 for (
int i = 0; i < 2; i++)
171#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
172 if (!opt_no_display) {
174 for (
int i = 0; i < 2; i++) {
182#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
186 graph =
new vpPlot(2, 500, 500, 700, 10,
"Curves...");
199 float sampling_time = 0.02f;
200 robot.setSamplingTime(sampling_time);
204 robot.setPosition(wMc);
209 wMc = robot.getPosition();
211 for (
int i = 0; i < 4; i++)
214 for (
int i = 0; i < 2; i++)
217#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
218 if (!opt_no_display) {
220 for (
int i = 0; i < 2; i++) {
231#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
233 graph->
plot(0, iter, v);
241 }
while ((task.
getError()).sumSquare() > 0.0005);
243#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
247#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
248 if (!opt_no_display && display != NULL)
252 std::cout <<
"final error=" << (task.
getError()).sumSquare() << std::endl;
255 std::cout <<
"Catch an exception: " << e << std::endl;
260#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
263 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
269 std::cout <<
"Test empty since visp_robot module is not available.\n" << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor green
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that defines generic functionnalities for display.
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
void print(unsigned int select=FEATURE_ALL) const
void setNormalized(bool normalized)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
@ ARGV_NO_DEFAULTS
No default options like -help.
@ ARGV_NO_ABBREV
No abrevation. Print an error message if an option is abrevated (ie "-i" in place of "-int" which is ...
@ ARGV_NO_LEFTOVERS
Print an error message if an option is not in the argument list.
@ ARGV_INT
Argument is associated to an int.
@ ARGV_CONSTANT_INT
Stand alone argument associated to an int var that is set to 1.
@ ARGV_END
End of the argument list.
@ ARGV_HELP
Argument is for help displaying.
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setMaxRotationVelocity(double maxVr)
void setMaxTranslationVelocity(double maxVt)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines the simplest robot: a free flying camera.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()