Visual Servoing Platform version 3.5.0
servoSimu3D_cdMc_CamVelocityWithoutVpServo.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 *****************************************************************************/
74#include <stdio.h>
75#include <stdlib.h>
76#include <string>
77
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpIoTools.h>
80#include <visp3/core/vpMath.h>
81#include <visp3/core/vpThetaUVector.h>
82#include <visp3/core/vpTranslationVector.h>
83#include <visp3/io/vpParseArgv.h>
84#include <visp3/robot/vpSimulatorCamera.h>
85
86// List of allowed command line options
87#define GETOPTARGS "h"
88
89void usage(const char *name, const char *badparam);
90bool getOptions(int argc, const char **argv);
91
100void usage(const char *name, const char *badparam)
101{
102 fprintf(stdout, "\n\
103Simulation of a 3D visual servoing:\n\
104- eye-in-hand control law,\n\
105- velocity computed in the camera frame,\n\
106- without display.\n\
107\n\
108SYNOPSIS\n\
109 %s [-h]\n", name);
110
111 fprintf(stdout, "\n\
112OPTIONS: Default\n\
113\n\
114 -h\n\
115 Print the help.\n");
116
117 if (badparam)
118 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
119}
120
130bool getOptions(int argc, const char **argv)
131{
132 const char *optarg_;
133 int c;
134 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
135
136 switch (c) {
137 case 'h':
138 usage(argv[0], NULL);
139 return false;
140
141 default:
142 usage(argv[0], optarg_);
143 return false;
144 }
145 }
146
147 if ((c == 1) || (c == -1)) {
148 // standalone param or error
149 usage(argv[0], NULL);
150 std::cerr << "ERROR: " << std::endl;
151 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
152 return false;
153 }
154
155 return true;
156}
157
158int main(int argc, const char **argv)
159{
160 try {
161 // Read the command line options
162 if (getOptions(argc, argv) == false) {
163 exit(-1);
164 }
165 // Log file creation in /tmp/$USERNAME/log.dat
166 // This file contains by line:
167 // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
168 // - the 6 values of s - s*
169 std::string username;
170 // Get the user login name
171 vpIoTools::getUserName(username);
172
173 // Create a log filename to save velocities...
174 std::string logdirname;
175#if defined(_WIN32)
176 logdirname = "C:/temp/" + username;
177#else
178 logdirname = "/tmp/" + username;
179#endif
180
181 // Test if the output path exist. If no try to create it
182 if (vpIoTools::checkDirectory(logdirname) == false) {
183 try {
184 // Create the dirname
185 vpIoTools::makeDirectory(logdirname);
186 } catch (...) {
187 std::cerr << std::endl << "ERROR:" << std::endl;
188 std::cerr << " Cannot create " << logdirname << std::endl;
189 exit(-1);
190 }
191 }
192 std::string logfilename;
193 logfilename = logdirname + "/log.dat";
194
195 // Open the log file name
196 std::ofstream flog(logfilename.c_str());
197
198 vpSimulatorCamera robot;
199
200 std::cout << std::endl;
201 std::cout << "-------------------------------------------------------" << std::endl;
202 std::cout << " Test program without vpServo and vpFeature classes " << std::endl;
203 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
204 std::cout << " Simulation " << std::endl;
205 std::cout << " task : 3D visual servoing " << std::endl;
206 std::cout << "-------------------------------------------------------" << std::endl;
207 std::cout << std::endl;
208
209 // Sets the initial camera location
210 vpPoseVector c_r_o( // Translation tx,ty,tz
211 0.1, 0.2, 2,
212 // ThetaU rotation
213 vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
214
215 // From the camera pose build the corresponding homogeneous matrix
216 vpHomogeneousMatrix cMo(c_r_o);
217
218 // Set the robot initial position
219 vpHomogeneousMatrix wMc, wMo;
220 robot.getPosition(wMc);
221 wMo = wMc * cMo; // Compute the position of the object in the world frame
222
223 // Sets the desired camera location
224 vpPoseVector cd_r_o( // Translation tx,ty,tz
225 0, 0, 1,
226 // ThetaU rotation
228 // From the camera desired pose build the corresponding homogeneous matrix
229 vpHomogeneousMatrix cdMo(cd_r_o);
230
231 vpHomogeneousMatrix cdMc; // Transformation between desired and current camera frame
232 vpRotationMatrix cdRc; // Rotation between desired and current camera frame
233 vpRotationMatrix cRcd; // Rotation between current and desired camera frame
234
235 // Set the constant gain of the servo
236 double lambda = 1;
237
238 unsigned int iter = 0;
239 // Start the visual servoing loop. We stop the servo after 200 iterations
240 while (iter++ < 200) {
241 std::cout << "-----------------------------------" << iter << std::endl;
242
243 // get the robot position
244 robot.getPosition(wMc);
245 // Compute the position of the object frame in the camera frame
246 cMo = wMc.inverse() * wMo;
247
248 // new displacement to achieve
249 cdMc = cdMo * cMo.inverse();
250
251 // Extract the translation vector c*tc which is the current
252 // translational visual feature.
254 cdMc.extract(cdtc);
255 // Extract the rotation matrix c*Rc
256 cdMc.extract(cdRc);
257 // Compute the inverse rotation cRc* (in fact the transpose of c*Rc)
258 cRcd = cdRc.inverse();
259 // Compute the current theta U visual feature
260 vpThetaUVector tu_cdRc(cdMc);
261 // Compute the camera translational velocity
262 vpColVector v(3);
263 v = -lambda * cRcd * cdtc;
264 // Compute the camera rotational velocity
265 vpColVector w(3);
266 w = -lambda * tu_cdRc;
267
268 // Update the complete camera velocity vector
269 vpColVector velocity(6);
270 for (unsigned int i = 0; i < 3; i++) {
271 velocity[i] = v[i]; // Translational velocity
272 velocity[i + 3] = w[i]; // Rotational velocity
273 }
274
275 // Send the camera velocity to the controller
276 robot.setVelocity(vpRobot::CAMERA_FRAME, velocity);
277
278 // Retrieve the error (s-s*)
279 std::cout << "|| s - s* || = " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
280
281 // Save log
282 flog << velocity.t() << " " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
283 }
284 // Close the log file
285 flog.close();
286 return EXIT_SUCCESS;
287 } catch (const vpException &e) {
288 std::cout << "Catch a ViSP exception: " << e << std::endl;
289 return EXIT_FAILURE;
290 }
291}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void extract(vpRotationMatrix &R) const
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
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix inverse() const
Class that defines the simplest robot: a free flying camera.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.