Visual Servoing Platform version 3.5.0
servoSimuCircle2DCamVelocity.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 circle.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
57#include <stdio.h>
58#include <stdlib.h>
59
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>
68
69// List of allowed command line options
70#define GETOPTARGS "h"
71
72void usage(const char *name, const char *badparam);
73bool getOptions(int argc, const char **argv);
74
83void usage(const char *name, const char *badparam)
84{
85 fprintf(stdout, "\n\
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\
89- without display.\n\
90 \n\
91SYNOPSIS\n\
92 %s [-h]\n", name);
93
94 fprintf(stdout, "\n\
95OPTIONS: Default\n\
96 \n\
97 -h\n\
98 Print the help.\n");
99
100 if (badparam)
101 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
102}
103
113bool getOptions(int argc, const char **argv)
114{
115 const char *optarg_;
116 int c;
117 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
118
119 switch (c) {
120 case 'h':
121 usage(argv[0], NULL);
122 return false;
123
124 default:
125 usage(argv[0], optarg_);
126 return false;
127 }
128 }
129
130 if ((c == 1) || (c == -1)) {
131 // standalone param or error
132 usage(argv[0], NULL);
133 std::cerr << "ERROR: " << std::endl;
134 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
135 return false;
136 }
137
138 return true;
139}
140
141int main(int argc, const char **argv)
142{
143#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
144 try {
145 // Read the command line options
146 if (getOptions(argc, argv) == false) {
147 exit(-1);
148 }
149
150 vpServo task;
151 vpSimulatorCamera robot;
152
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;
160
161 // sets the initial camera location
163 cMo[0][3] = 0.1;
164 cMo[1][3] = 0.2;
165 cMo[2][3] = 2;
166
167 vpHomogeneousMatrix wMc, wMo;
168 robot.getPosition(wMc);
169 wMo = wMc * cMo; // Compute the position of the object in the world frame
170
172 cMod[0][3] = 0;
173 cMod[1][3] = 0;
174 cMod[2][3] = 1;
175
176 // sets the circle coordinates in the world frame
177 vpCircle circle;
178 circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);
179
180 // sets the desired position of the visual feature
182 circle.track(cMod);
183 vpFeatureBuilder::create(pd, circle);
184
185 // project : computes the circle coordinates in the camera frame and its
186 // 2D coordinates
187
188 // sets the current position of the visual feature
190 circle.track(cMo);
191 vpFeatureBuilder::create(p, circle);
192
193 // define the task
194 // - we want an eye-in-hand control law
195 // - robot is controlled in the camera frame
197
198 // - we want to see a circle on a circle
199 std::cout << std::endl;
200 task.addFeature(p, pd);
201
202 // - set the gain
203 task.setLambda(1);
204
205 // Display task information
206 task.print();
207
208 unsigned int iter = 0;
209 // loop
210 while (iter++ < 500) {
211 std::cout << "---------------------------------------------" << iter << std::endl;
212 vpColVector v;
213
214 // get the robot position
215 robot.getPosition(wMc);
216 // Compute the position of the object frame in the camera frame
217 cMo = wMc.inverse() * wMo;
218
219 // new circle position: retrieve x,y and Z of the vpCircle structure
220 circle.track(cMo);
221 vpFeatureBuilder::create(p, circle);
222
223 // compute the control law
224 v = task.computeControlLaw();
225 std::cout << "task rank: " << task.getTaskRank() << std::endl;
226 // send the camera velocity to the controller
228
229 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
230 }
231
232 // Display task information
233 task.print();
234 return EXIT_SUCCESS;
235 } catch (const vpException &e) {
236 std::cout << "Catch a ViSP exception: " << e << std::endl;
237 return EXIT_FAILURE;
238 }
239#else
240 (void)argc;
241 (void)argv;
242 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
243 return EXIT_SUCCESS;
244#endif
245}
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:60
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.