Visual Servoing Platform version 3.6.0
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servoSimuCircle2DCamVelocity.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 2D visual servoing on a circle.
33 *
34*****************************************************************************/
53#include <stdio.h>
54#include <stdlib.h>
55
56#include <visp3/core/vpCircle.h>
57#include <visp3/core/vpHomogeneousMatrix.h>
58#include <visp3/core/vpMath.h>
59#include <visp3/io/vpParseArgv.h>
60#include <visp3/robot/vpSimulatorCamera.h>
61#include <visp3/visual_features/vpFeatureBuilder.h>
62#include <visp3/visual_features/vpFeatureEllipse.h>
63#include <visp3/vs/vpServo.h>
64
65// List of allowed command line options
66#define GETOPTARGS "h"
67
68void usage(const char *name, const char *badparam);
69bool getOptions(int argc, const char **argv);
70
79void usage(const char *name, const char *badparam)
80{
81 fprintf(stdout, "\n\
82Simulation of a 2D visual servoing on a circle:\n\
83- eye-in-hand control law,\n\
84- velocity computed in the camera frame,\n\
85- without display.\n\
86 \n\
87SYNOPSIS\n\
88 %s [-h]\n",
89 name);
90
91 fprintf(stdout, "\n\
92OPTIONS: Default\n\
93 \n\
94 -h\n\
95 Print the help.\n");
96
97 if (badparam)
98 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
99}
100
110bool getOptions(int argc, const char **argv)
111{
112 const char *optarg_;
113 int c;
114 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
115
116 switch (c) {
117 case 'h':
118 usage(argv[0], NULL);
119 return false;
120
121 default:
122 usage(argv[0], optarg_);
123 return false;
124 }
125 }
126
127 if ((c == 1) || (c == -1)) {
128 // standalone param or error
129 usage(argv[0], NULL);
130 std::cerr << "ERROR: " << std::endl;
131 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
132 return false;
133 }
134
135 return true;
136}
137
138int main(int argc, const char **argv)
139{
140#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
141 try {
142 // Read the command line options
143 if (getOptions(argc, argv) == false) {
144 return EXIT_FAILURE;
145 }
146
147 vpServo task;
148 vpSimulatorCamera robot;
149
150 std::cout << std::endl;
151 std::cout << "-------------------------------------------------------" << std::endl;
152 std::cout << " Test program for vpServo " << std::endl;
153 std::cout << " Simulation " << std::endl;
154 std::cout << " task : servo a circle " << std::endl;
155 std::cout << "-------------------------------------------------------" << std::endl;
156 std::cout << std::endl;
157
158 // sets the initial camera location
160 cMo[0][3] = 0.1;
161 cMo[1][3] = 0.2;
162 cMo[2][3] = 2;
163
164 vpHomogeneousMatrix wMc, wMo;
165 robot.getPosition(wMc);
166 wMo = wMc * cMo; // Compute the position of the object in the world frame
167
169 cMod[0][3] = 0;
170 cMod[1][3] = 0;
171 cMod[2][3] = 1;
172
173 // sets the circle coordinates in the world frame
174 vpCircle circle;
175 circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);
176
177 // sets the desired position of the visual feature
179 circle.track(cMod);
180 vpFeatureBuilder::create(pd, circle);
181
182 // project : computes the circle coordinates in the camera frame and its
183 // 2D coordinates
184
185 // sets the current position of the visual feature
187 circle.track(cMo);
188 vpFeatureBuilder::create(p, circle);
189
190 // define the task
191 // - we want an eye-in-hand control law
192 // - robot is controlled in the camera frame
194
195 // - we want to see a circle on a circle
196 std::cout << std::endl;
197 task.addFeature(p, pd);
198
199 // - set the gain
200 task.setLambda(1);
201
202 // Display task information
203 task.print();
204
205 unsigned int iter = 0;
206 // loop
207 while (iter++ < 500) {
208 std::cout << "---------------------------------------------" << iter << std::endl;
209 vpColVector v;
210
211 // get the robot position
212 robot.getPosition(wMc);
213 // Compute the position of the object frame in the camera frame
214 cMo = wMc.inverse() * wMo;
215
216 // new circle position: retrieve x,y and Z of the vpCircle structure
217 circle.track(cMo);
218 vpFeatureBuilder::create(p, circle);
219
220 // compute the control law
221 v = task.computeControlLaw();
222 std::cout << "task rank: " << task.getTaskRank() << std::endl;
223 // send the camera velocity to the controller
225
226 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
227 }
228
229 // Display task information
230 task.print();
231 return EXIT_SUCCESS;
232 }
233 catch (const vpException &e) {
234 std::cout << "Catch a ViSP exception: " << e << std::endl;
235 return EXIT_FAILURE;
236 }
237#else
238 (void)argc;
239 (void)argv;
240 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
241 return EXIT_SUCCESS;
242#endif
243}
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition vpCircle.h:87
void setWorldCoordinates(const vpColVector &oP)
Definition vpCircle.cpp:57
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 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)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition vpRobot.h:80
@ EYEINHAND_CAMERA
Definition vpServo.h:151
unsigned int getTaskRank() const
Definition vpServo.cpp:1796
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.