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>
74void usage(
const char *name,
const char *badparam);
75bool getOptions(
int argc,
const char **argv);
85void usage(
const char *name,
const char *badparam)
88Simulation 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);
115bool getOptions(
int argc,
const char **argv)
123 usage(argv[0], NULL);
127 usage(argv[0], optarg_);
132 if ((c == 1) || (c == -1)) {
134 usage(argv[0], NULL);
135 std::cerr <<
"ERROR: " << std::endl;
136 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
143int main(
int argc,
const char **argv)
145#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
148 if (getOptions(argc, argv) ==
false) {
156 std::string username;
161 std::string logdirname;
163 logdirname =
"C:/temp/" + username;
165 logdirname =
"/tmp/" + username;
173 std::cerr << std::endl <<
"ERROR:" << std::endl;
174 std::cerr <<
" Cannot create " << logdirname << std::endl;
178 std::string logfilename;
179 logfilename = logdirname +
"/log.dat";
182 std::ofstream flog(logfilename.c_str());
187 std::cout << std::endl;
188 std::cout <<
"-------------------------------------------------------" << std::endl;
189 std::cout <<
" Test program for vpServo " << std::endl;
190 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
191 std::cout <<
" Simulation " << std::endl;
192 std::cout <<
" task : 3D visual servoing " << std::endl;
193 std::cout <<
"-------------------------------------------------------" << std::endl;
194 std::cout << std::endl;
207 robot.getPosition(wMc);
252 unsigned int iter = 0;
254 while (iter++ < 200) {
255 std::cout <<
"-----------------------------------" << iter << std::endl;
259 robot.getPosition(wMc);
281 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
284 flog << v.
t() <<
" " << (task.
getError()).t() << std::endl;
293 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
299 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Class that defines the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
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.