Visual Servoing Platform version 3.5.0
tutorial-ibvs-4pts.cpp
1
2#include <visp3/robot/vpSimulatorCamera.h>
3#include <visp3/visual_features/vpFeatureBuilder.h>
4#include <visp3/vs/vpServo.h>
5
6int main()
7{
8 try {
9 vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
10 vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
11
12 vpPoint point[4];
13 point[0].setWorldCoordinates(-0.1, -0.1, 0);
14 point[1].setWorldCoordinates(0.1, -0.1, 0);
15 point[2].setWorldCoordinates(0.1, 0.1, 0);
16 point[3].setWorldCoordinates(-0.1, 0.1, 0);
17
18 vpServo task;
21 task.setLambda(0.5);
22
23 vpFeaturePoint p[4], pd[4];
24 for (unsigned int i = 0; i < 4; i++) {
25 point[i].track(cdMo);
26 vpFeatureBuilder::create(pd[i], point[i]);
27 point[i].track(cMo);
28 vpFeatureBuilder::create(p[i], point[i]);
29 task.addFeature(p[i], pd[i]);
30 }
31
32 vpHomogeneousMatrix wMc, wMo;
34 robot.setSamplingTime(0.040);
35 robot.getPosition(wMc);
36 wMo = wMc * cMo;
37
38 for (unsigned int iter = 0; iter < 150; iter++) {
39 robot.getPosition(wMc);
40 cMo = wMc.inverse() * wMo;
41 for (unsigned int i = 0; i < 4; i++) {
42 point[i].track(cMo);
43 vpFeatureBuilder::create(p[i], point[i]);
44 }
47 }
48 } catch (const vpException &e) {
49 std::cout << "Catch an exception: " << e << std::endl;
50 }
51}
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 a 2D point visual feature which is composed by two parameters that are the cartes...
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
Definition: vpMath.h:110
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ CURRENT
Definition: vpServo.h:182
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.