61#include <visp3/core/vpHomogeneousMatrix.h>
62#include <visp3/core/vpIoTools.h>
63#include <visp3/core/vpMath.h>
64#include <visp3/io/vpParseArgv.h>
65#include <visp3/robot/vpSimulatorCamera.h>
66#include <visp3/visual_features/vpFeatureThetaU.h>
67#include <visp3/visual_features/vpFeatureTranslation.h>
68#include <visp3/vs/vpServo.h>
73void usage(
const char *name,
const char *badparam);
74bool getOptions(
int argc,
const char **argv);
84void usage(
const char *name,
const char *badparam)
87Simulation of a 3D visual servoing:\n\
88- eye-in-hand control law,\n\
89- velocity computed in the camera frame,\n\
102 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
114bool getOptions(
int argc,
const char **argv)
122 usage(argv[0], NULL);
126 usage(argv[0], optarg_);
131 if ((c == 1) || (c == -1)) {
133 usage(argv[0], NULL);
134 std::cerr <<
"ERROR: " << std::endl;
135 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
142int main(
int argc,
const char **argv)
144#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
147 if (getOptions(argc, argv) ==
false) {
155 std::string username;
160 std::string logdirname;
162 logdirname =
"C:/temp/" + username;
164 logdirname =
"/tmp/" + username;
172 std::cerr << std::endl <<
"ERROR:" << std::endl;
173 std::cerr <<
" Cannot create " << logdirname << std::endl;
177 std::string logfilename;
178 logfilename = logdirname +
"/log.dat";
181 std::ofstream flog(logfilename.c_str());
186 std::cout << std::endl;
187 std::cout <<
"-------------------------------------------------------" << std::endl;
188 std::cout <<
" Test program for vpServo " << std::endl;
189 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
190 std::cout <<
" Simulation " << std::endl;
191 std::cout <<
" task : 3D visual servoing " << std::endl;
192 std::cout <<
"-------------------------------------------------------" << std::endl;
193 std::cout << std::endl;
206 robot.getPosition(wMc);
254 unsigned int iter = 0;
256 while (iter++ < 200) {
257 std::cout <<
"------------------------------------" << iter << std::endl;
261 robot.getPosition(wMc);
283 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
286 flog << v.
t() <<
" " << (task.
getError()).t() << std::endl;
297 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
303 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.