60#include <visp3/core/vpCircle.h>
61#include <visp3/core/vpHomogeneousMatrix.h>
62#include <visp3/core/vpMath.h>
63#include <visp3/io/vpParseArgv.h>
64#include <visp3/robot/vpSimulatorCamera.h>
65#include <visp3/visual_features/vpFeatureBuilder.h>
66#include <visp3/visual_features/vpFeatureEllipse.h>
67#include <visp3/vs/vpServo.h>
72void usage(
const char *name,
const char *badparam);
73bool getOptions(
int argc,
const char **argv);
83void usage(
const char *name,
const char *badparam)
86Simulation of a 2D visual servoing on a circle:\n\
87- eye-in-hand control law,\n\
88- velocity computed in the camera frame,\n\
101 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
113bool getOptions(
int argc,
const char **argv)
121 usage(argv[0], NULL);
125 usage(argv[0], optarg_);
130 if ((c == 1) || (c == -1)) {
132 usage(argv[0], NULL);
133 std::cerr <<
"ERROR: " << std::endl;
134 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
141int main(
int argc,
const char **argv)
143#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
146 if (getOptions(argc, argv) ==
false) {
153 std::cout << std::endl;
154 std::cout <<
"-------------------------------------------------------" << std::endl;
155 std::cout <<
" Test program for vpServo " << std::endl;
156 std::cout <<
" Simulation " << std::endl;
157 std::cout <<
" task : servo a circle " << std::endl;
158 std::cout <<
"-------------------------------------------------------" << std::endl;
159 std::cout << std::endl;
168 robot.getPosition(wMc);
199 std::cout << std::endl;
208 unsigned int iter = 0;
210 while (iter++ < 500) {
211 std::cout <<
"---------------------------------------------" << iter << std::endl;
215 robot.getPosition(wMc);
225 std::cout <<
"task rank: " << task.
getTaskRank() << std::endl;
229 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
236 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
242 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
void setWorldCoordinates(const vpColVector &oP)
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
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)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
unsigned int getTaskRank() const
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.