Visual Servoing Platform version 3.6.0
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servoSimuPoint3DCamVelocity.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 3D visual servoing on a 3D point.
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/vpFeaturePoint3D.h>
55#include <visp3/vs/vpServo.h>
56
57// List of allowed command line options
58#define GETOPTARGS "h"
59
60void usage(const char *name, const char *badparam);
61bool getOptions(int argc, const char **argv);
62
71void usage(const char *name, const char *badparam)
72{
73 fprintf(stdout, "\n\
74Simulation of a 3D visual servoing:\n\
75- servo a 3D point,\n\
76- eye-in-hand control law,\n\
77- velocity computed in the camera frame,\n\
78- without display.\n\
79 \n\
80SYNOPSIS\n\
81 %s [-h]\n",
82 name);
83
84 fprintf(stdout, "\n\
85OPTIONS: Default\n\
86 \n\
87 -h\n\
88 Print the help.\n");
89
90 if (badparam)
91 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
92}
93
103bool getOptions(int argc, const char **argv)
104{
105 const char *optarg_;
106 int c;
107 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
108
109 switch (c) {
110 case 'h':
111 usage(argv[0], NULL);
112 return false;
113
114 default:
115 usage(argv[0], optarg_);
116 return false;
117 }
118 }
119
120 if ((c == 1) || (c == -1)) {
121 // standalone param or error
122 usage(argv[0], NULL);
123 std::cerr << "ERROR: " << std::endl;
124 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
125 return false;
126 }
127
128 return true;
129}
130
131int main(int argc, const char **argv)
132{
133#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
134 try {
135 // Read the command line options
136 if (getOptions(argc, argv) == false) {
137 return EXIT_FAILURE;
138 }
139
140 vpServo task;
141 vpSimulatorCamera robot;
142
143 std::cout << std::endl;
144 std::cout << "-------------------------------------------------------" << std::endl;
145 std::cout << " Test program for vpServo " << std::endl;
146 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
147 std::cout << " Simulation " << std::endl;
148 std::cout << " task : servo a 3D point " << std::endl;
149 std::cout << "-------------------------------------------------------" << std::endl;
150 std::cout << std::endl;
151
152 // sets the initial camera location
154 cMo[0][3] = 0.1;
155 cMo[1][3] = 0.2;
156 cMo[2][3] = 2;
157 // Compute the position of the object in the world frame
158 vpHomogeneousMatrix wMc, wMo;
159 robot.getPosition(wMc);
160 wMo = wMc * cMo;
161
162 // sets the point coordinates in the world frame
163 vpPoint point(0, 0, 0);
164
165 // computes the point coordinates in the camera frame
166 point.track(cMo);
167
168 std::cout << "Point coordinates in the camera frame: " << point.cP.t();
169
171 p.buildFrom(point);
172
173 // sets the desired position of the point
175 pd.set_XYZ(0, 0, 1);
176
177 // define the task
178 // - we want an eye-in-hand control law
179 // - robot is controlled in the camera frame
181
182 // we want to see a point on a point
183 std::cout << std::endl;
184 task.addFeature(p, pd);
185
186 // set the gain") ;
187 task.setLambda(1);
188
189 // Display task information
190 task.print();
191
192 unsigned int iter = 0;
193 // loop
194 while (iter++ < 200) {
195 std::cout << "---------------------------------------------" << iter << std::endl;
196 vpColVector v;
197
198 // get the robot position
199 robot.getPosition(wMc);
200 // Compute the position of the object frame in the camera frame
201 cMo = wMc.inverse() * wMo;
202
203 // new point position
204 point.track(cMo);
205 p.buildFrom(point);
206 // std::cout << p.cP.t() ;
207 // std::cout << (p.get_s()).t() ;
208
209 // compute the control law
210 v = task.computeControlLaw();
211 // send the camera velocity to the controller
213
214 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
215 }
216
217 // Display task information
218 task.print();
219 return EXIT_SUCCESS;
220 } catch (const vpException &e) {
221 std::cout << "Catch a ViSP exception: " << e << std::endl;
222 return EXIT_FAILURE;
223 }
224#else
225 (void)argc;
226 (void)argv;
227 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
228 return EXIT_SUCCESS;
229#endif
230}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
Class that defines the 3D point visual feature.
void set_XYZ(double X, double Y, double Z)
void buildFrom(const vpPoint &p)
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)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
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.