Visual Servoing Platform version 3.5.0
servoSimuSphere2DCamVelocity.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Simulation of a 2D visual servoing on a sphere.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
49#include <stdio.h>
50#include <stdlib.h>
51
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>
60
61// List of allowed command line options
62#define GETOPTARGS "h"
63
64void usage(const char *name, const char *badparam);
65bool getOptions(int argc, const char **argv);
66
75void usage(const char *name, const char *badparam)
76{
77 fprintf(stdout, "\n\
78Simulation of a 2D visual servoing on a sphere:\n\
79- eye-in-hand control law,\n\
80- velocity computed in the camera frame,\n\
81- without display.\n\
82 \n\
83SYNOPSIS\n\
84 %s [-h]\n", name);
85
86 fprintf(stdout, "\n\
87OPTIONS: Default\n\
88 \n\
89 -h\n\
90 Print the help.\n");
91
92 if (badparam)
93 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
94}
95
106bool getOptions(int argc, const char **argv)
107{
108 const char *optarg_;
109 int c;
110 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
111
112 switch (c) {
113 case 'h':
114 usage(argv[0], NULL);
115 return false;
116
117 default:
118 usage(argv[0], optarg_);
119 return false;
120 }
121 }
122
123 if ((c == 1) || (c == -1)) {
124 // standalone param or error
125 usage(argv[0], NULL);
126 std::cerr << "ERROR: " << std::endl;
127 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
128 return false;
129 }
130
131 return true;
132}
133
134int main(int argc, const char **argv)
135{
136#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
137 try {
138 // Read the command line options
139 if (getOptions(argc, argv) == false) {
140 exit(-1);
141 }
142
143 vpServo task;
144 vpSimulatorCamera robot;
145
146 std::cout << std::endl;
147 std::cout << "-------------------------------------------------------" << std::endl;
148 std::cout << " Test program for vpServo " << std::endl;
149 std::cout << " Simulation " << std::endl;
150 std::cout << " task : servo a sphere " << std::endl;
151 std::cout << "-------------------------------------------------------" << std::endl;
152 std::cout << std::endl;
153
154 // sets the initial camera location
156 cMo[0][3] = 0.1;
157 cMo[1][3] = 0.2;
158 cMo[2][3] = 2;
159 // Compute the position of the object in the world frame
160 vpHomogeneousMatrix wMc, wMo;
161 robot.getPosition(wMc);
162 wMo = wMc * cMo;
163
165 cMod[0][3] = 0;
166 cMod[1][3] = 0;
167 cMod[2][3] = 1;
168
169 // sets the sphere coordinates in the world frame
170 vpSphere sphere;
171 sphere.setWorldCoordinates(0, 0, 0, 0.1);
172
173 // sets the desired position of the visual feature
175 sphere.track(cMod);
176 vpFeatureBuilder::create(pd, sphere);
177
178 // computes the sphere coordinates in the camera frame and its 2D
179 // coordinates sets the current position of the visual feature
181 sphere.track(cMo);
182 vpFeatureBuilder::create(p, sphere);
183
184 // define the task
185 // - we want an eye-in-hand control law
186 // - robot is controlled in the camera frame
188
189 // we want to see a sphere on a sphere
190 task.addFeature(p, pd);
191
192 // set the gain
193 task.setLambda(1);
194
195 // Display task information
196 task.print();
197
198 unsigned int iter = 0;
199 // loop
200 while (iter++ < 200) {
201 std::cout << "---------------------------------------------" << iter << std::endl;
202 vpColVector v;
203
204 // get the robot position
205 robot.getPosition(wMc);
206 // Compute the position of the object frame in the camera frame
207 cMo = wMc.inverse() * wMo;
208
209 // new sphere position: retrieve x,y and Z of the vpSphere structure
210 sphere.track(cMo);
211 vpFeatureBuilder::create(p, sphere);
212
213 // compute the control law
214 v = task.computeControlLaw();
215
216 std::cout << "Task rank: " << task.getTaskRank() << std::endl;
217 // send the camera velocity to the controller
219
220 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
221 }
222
223 // Display task information
224 task.print();
225 return EXIT_SUCCESS;
226 } catch (const vpException &e) {
227 std::cout << "Catch a ViSP exception: " << e << std::endl;
228 return EXIT_FAILURE;
229 }
230#else
231 (void)argc;
232 (void)argv;
233 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
234 return EXIT_SUCCESS;
235#endif
236}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
unsigned int getTaskRank() const
Definition: vpServo.cpp:1786
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Class that defines the simplest robot: a free flying camera.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:83
void setWorldCoordinates(const vpColVector &oP)
Definition: vpSphere.cpp:62