Visual Servoing Platform version 3.5.0
servoSimu3D_cdMc_CamVelocity.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 3D visual servoing.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
59#include <stdio.h>
60#include <stdlib.h>
61
62#include <visp3/core/vpHomogeneousMatrix.h>
63#include <visp3/core/vpIoTools.h>
64#include <visp3/core/vpMath.h>
65#include <visp3/io/vpParseArgv.h>
66#include <visp3/robot/vpSimulatorCamera.h>
67#include <visp3/visual_features/vpFeatureThetaU.h>
68#include <visp3/visual_features/vpFeatureTranslation.h>
69#include <visp3/vs/vpServo.h>
70
71// List of allowed command line options
72#define GETOPTARGS "h"
73
74void usage(const char *name, const char *badparam);
75bool getOptions(int argc, const char **argv);
76
85void usage(const char *name, const char *badparam)
86{
87 fprintf(stdout, "\n\
88Simulation of a 3D visual servoing:\n\
89 - eye-in-hand control law,\n\
90 - velocity computed in the camera frame,\n\
91 - without display.\n\
92 \n\
93SYNOPSIS\n\
94 %s [-h]\n", name);
95
96 fprintf(stdout, "\n\
97OPTIONS: Default\n\
98 \n\
99 -h\n\
100 Print the help.\n");
101
102 if (badparam)
103 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
104}
105
115bool getOptions(int argc, const char **argv)
116{
117 const char *optarg_;
118 int c;
119 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
120
121 switch (c) {
122 case 'h':
123 usage(argv[0], NULL);
124 return false;
125
126 default:
127 usage(argv[0], optarg_);
128 return false;
129 }
130 }
131
132 if ((c == 1) || (c == -1)) {
133 // standalone param or error
134 usage(argv[0], NULL);
135 std::cerr << "ERROR: " << std::endl;
136 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
137 return false;
138 }
139
140 return true;
141}
142
143int main(int argc, const char **argv)
144{
145#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
146 try {
147 // Read the command line options
148 if (getOptions(argc, argv) == false) {
149 exit(-1);
150 }
151
152 // Log file creation in /tmp/$USERNAME/log.dat
153 // This file contains by line:
154 // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
155 // - the 6 values of s - s*
156 std::string username;
157 // Get the user login name
158 vpIoTools::getUserName(username);
159
160 // Create a log filename to save velocities...
161 std::string logdirname;
162#if defined(_WIN32)
163 logdirname = "C:/temp/" + username;
164#else
165 logdirname = "/tmp/" + username;
166#endif
167 // Test if the output path exist. If no try to create it
168 if (vpIoTools::checkDirectory(logdirname) == false) {
169 try {
170 // Create the dirname
171 vpIoTools::makeDirectory(logdirname);
172 } catch (...) {
173 std::cerr << std::endl << "ERROR:" << std::endl;
174 std::cerr << " Cannot create " << logdirname << std::endl;
175 exit(-1);
176 }
177 }
178 std::string logfilename;
179 logfilename = logdirname + "/log.dat";
180
181 // Open the log file name
182 std::ofstream flog(logfilename.c_str());
183
184 vpServo task;
185 vpSimulatorCamera robot;
186
187 std::cout << std::endl;
188 std::cout << "-------------------------------------------------------" << std::endl;
189 std::cout << " Test program for vpServo " << std::endl;
190 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
191 std::cout << " Simulation " << std::endl;
192 std::cout << " task : 3D visual servoing " << std::endl;
193 std::cout << "-------------------------------------------------------" << std::endl;
194 std::cout << std::endl;
195
196 // Sets the initial camera location
197 vpPoseVector c_r_o( // Translation tx,ty,tz
198 0.1, 0.2, 2,
199 // ThetaU rotation
200 vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
201
202 // From the camera pose build the corresponding homogeneous matrix
203 vpHomogeneousMatrix cMo(c_r_o);
204
205 // Set the robot initial position
206 vpHomogeneousMatrix wMc, wMo;
207 robot.getPosition(wMc);
208 wMo = wMc * cMo; // Compute the position of the object in the world frame
209
210 // Sets the desired camera location
211 vpPoseVector cd_r_o( // Translation tx,ty,tz
212 0, 0, 1,
213 // ThetaU rotation
215 // From the camera desired pose build the corresponding homogeneous matrix
216 vpHomogeneousMatrix cdMo(cd_r_o);
217
218 // Compute the homogeneous transformation from the desired camera position
219 // to the initial one
221 cdMc = cdMo * cMo.inverse();
222
223 // Build the current visual features s = (c*tc, thetaU_c*Rc)^T
225 vpFeatureThetaU tu(vpFeatureThetaU::cdRc); // current feature
226 t.buildFrom(cdMc);
227 tu.buildFrom(cdMc);
228
229 // Sets the desired rotation (always zero !) since s is the
230 // rotation that the camera has to achieve. Here s* = (0, 0)^T
232 vpFeatureThetaU tud(vpFeatureThetaU::cdRc); // desired feature
233
234 // Define the task
235 // - we want an eye-in-hand control law
236 // - the robot is controlled in the camera frame
238 // - we use here the interaction matrix computed with the
239 // current features
241
242 // Add the current and desired visual features
243 task.addFeature(t, td); // 3D translation
244 task.addFeature(tu, tud); // 3D rotation
245
246 // - set the constant gain to 1.0
247 task.setLambda(1);
248
249 // Display task information
250 task.print();
251
252 unsigned int iter = 0;
253 // Start the visual servoing loop. We stop the servo after 200 iterations
254 while (iter++ < 200) {
255 std::cout << "-----------------------------------" << iter << std::endl;
256 vpColVector v;
257
258 // get the robot position
259 robot.getPosition(wMc);
260 // Compute the position of the object frame in the camera frame
261 cMo = wMc.inverse() * wMo;
262
263 // new displacement to achieve
264 cdMc = cdMo * cMo.inverse();
265
266 // Update the current visual features
267 t.buildFrom(cdMc);
268 tu.buildFrom(cdMc);
269
270 // Compute the control law
271 v = task.computeControlLaw();
272
273 // Display task information
274 if (iter == 1)
275 task.print();
276
277 // Send the camera velocity to the controller
279
280 // Retrieve the error
281 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
282
283 // Save log
284 flog << v.t() << " " << (task.getError()).t() << std::endl;
285 }
286 // Display task information
287 task.print();
288
289 // Close the log file
290 flog.close();
291 return EXIT_SUCCESS;
292 } catch (const vpException &e) {
293 std::cout << "Catch a ViSP exception: " << e << std::endl;
294 return EXIT_FAILURE;
295 }
296#else
297 (void)argc;
298 (void)argv;
299 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
300 return EXIT_SUCCESS;
301#endif
302}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
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 bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string getUserName()
Definition: vpIoTools.cpp:316
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
static double rad(double deg)
Definition: vpMath.h:110
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
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 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
@ 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.