Visual Servoing Platform version 3.6.0
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servoSimuPoint2DhalfCamVelocity1.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 2 1/2 D visual servoing.
33 *
34*****************************************************************************/
35
46#include <stdio.h>
47#include <stdlib.h>
48
49#include <visp3/core/vpHomogeneousMatrix.h>
50#include <visp3/core/vpMath.h>
51#include <visp3/core/vpPoint.h>
52#include <visp3/io/vpParseArgv.h>
53#include <visp3/robot/vpSimulatorCamera.h>
54#include <visp3/visual_features/vpFeatureBuilder.h>
55#include <visp3/visual_features/vpFeaturePoint.h>
56#include <visp3/visual_features/vpFeatureThetaU.h>
57#include <visp3/visual_features/vpGenericFeature.h>
58#include <visp3/vs/vpServo.h>
59
60// List of allowed command line options
61#define GETOPTARGS "h"
62
63void usage(const char *name, const char *badparam);
64bool getOptions(int argc, const char **argv);
65
74void usage(const char *name, const char *badparam)
75{
76 fprintf(stdout, "\n\
77Simulation of a 2 1/2 D visual servoing (x,y,Z,theta U):\n\
78- eye-in-hand control law,\n\
79- velocity computed in the camera frame,\n\
80- without display.\n\
81 \n\
82SYNOPSIS\n\
83 %s [-h]\n",
84 name);
85
86 fprintf(stdout, "\n\
87OPTIONS: Default\n\
88 \n\
89 -h\n\
90 Print the help.\n");
91
92 if (badparam) {
93 fprintf(stderr, "ERROR: \n");
94 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
95 }
96}
97
108bool getOptions(int argc, const char **argv)
109{
110 const char *optarg_;
111 int c;
112 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
113
114 switch (c) {
115 case 'h':
116 usage(argv[0], NULL);
117 return false;
118
119 default:
120 usage(argv[0], optarg_);
121 return false;
122 }
123 }
124
125 if ((c == 1) || (c == -1)) {
126 // standalone param or error
127 usage(argv[0], NULL);
128 std::cerr << "ERROR: " << std::endl;
129 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
130 return false;
131 }
132
133 return true;
134}
135
136int main(int argc, const char **argv)
137{
138#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
139 try {
140 // Read the command line options
141 if (getOptions(argc, argv) == false) {
142 return EXIT_FAILURE;
143 }
144
145 vpServo task;
146 vpSimulatorCamera robot;
147
148 std::cout << std::endl;
149 std::cout << "-------------------------------------------------------" << std::endl;
150 std::cout << " Test program for vpServo " << std::endl;
151 std::cout << " task : 2 1/2 D visual servoing " << std::endl;
152 std::cout << "-------------------------------------------------------" << std::endl;
153 std::cout << std::endl;
154
155 // sets the initial camera location
156 vpPoseVector c_r_o(0.1, 0.2, 2, vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
157
158 vpHomogeneousMatrix cMo(c_r_o);
159 // Compute the position of the object in the world frame
160 vpHomogeneousMatrix wMc, wMo;
161 robot.getPosition(wMc);
162 wMo = wMc * cMo;
163
164 // sets the desired camera location
165 vpPoseVector cd_r_o(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
166 vpHomogeneousMatrix cdMo(cd_r_o);
167
168 // sets the point coordinates in the world frame
169 vpPoint point(0, 0, 0);
170 // computes the point coordinates in the camera frame and its 2D
171 // coordinates
172 point.track(cMo);
173
174 vpPoint pointd(0, 0, 0);
175 pointd.track(cdMo);
176 //------------------------------------------------------------------
177 // 1st feature (x,y)
178 // want to it at (0,0)
180 vpFeatureBuilder::create(p, point);
181
183 vpFeatureBuilder::create(pd, pointd);
184
185 //------------------------------------------------------------------
186 // 2nd feature (Z)
187 // not necessary to project twice (reuse p)
189 vpFeatureBuilder::create(Z, point); // retrieve x,y and Z of the vpPoint structure
190
191 // want to see it one meter away (here again use pd)
193 vpFeatureBuilder::create(Zd, pointd); // retrieve x,y and Z of the vpPoint structure
194
195 //------------------------------------------------------------------
196 // 3rd feature ThetaU
197 // compute the rotation that the camera has to achieve
199 cdMc = cdMo * cMo.inverse();
200
202 tu.buildFrom(cdMc);
203
204 // sets the desired rotation (always zero !)
205 // since s is the rotation that the camera has to achieve
206
207 //------------------------------------------------------------------
208 // define the task
209 // - we want an eye-in-hand control law
210 // - robot is controlled in the camera frame
212
213 task.addFeature(p, pd);
215 task.addFeature(tu);
216
217 // set the gain
218 task.setLambda(1);
219
220 // Display task information
221 task.print();
222
223 unsigned int iter = 0;
224 // loop
225 while (iter++ < 200) {
226 std::cout << "---------------------------------------------" << iter << std::endl;
227 vpColVector v;
228
229 // get the robot position
230 robot.getPosition(wMc);
231 // Compute the position of the object frame in the camera frame
232 cMo = wMc.inverse() * wMo;
233
234 // update the feature
235 point.track(cMo);
236 vpFeatureBuilder::create(p, point);
237 vpFeatureBuilder::create(Z, point);
238
239 cdMc = cdMo * cMo.inverse();
240 tu.buildFrom(cdMc);
241
242 // compute the control law
243 v = task.computeControlLaw();
244 // send the camera velocity to the controller ") ;
246
247 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
248 }
249
250 // Display task information
251 task.print();
252 std::cout << "Final camera location:\n " << cMo << std::endl;
253 return EXIT_SUCCESS;
254 } catch (const vpException &e) {
255 std::cout << "Catch a ViSP exception: " << e << std::endl;
256 return EXIT_SUCCESS;
257 }
258#else
259 (void)argc;
260 (void)argv;
261 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
262 return EXIT_SUCCESS;
263#endif
264}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines the 3D point visual feature.
static unsigned int selectZ()
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotati...
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)
Definition vpMath.h:116
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition vpRobot.h:80
@ EYEINHAND_CAMERA
Definition vpServo.h:151
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition vpServo.cpp:299
void setLambda(double c)
Definition vpServo.h:403
void setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
vpColVector getError() const
Definition vpServo.h:276
vpColVector computeControlLaw()
Definition vpServo.cpp:930
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487
Class that defines the simplest robot: a free flying camera.