58 #include <visp/vpFeaturePoint3D.h>
59 #include <visp/vpHomogeneousMatrix.h>
60 #include <visp/vpMath.h>
61 #include <visp/vpParseArgv.h>
62 #include <visp/vpPoint.h>
63 #include <visp/vpServo.h>
64 #include <visp/vpSimulatorCamera.h>
67 #define GETOPTARGS "h"
77 void usage(
const char *name,
const char *badparam)
80 Simulation of a 3D visual servoing:\n\
81 - servo a 3D point,\n\
82 - eye-in-hand control law,\n\
83 - velocity computed in the camera frame,\n\
96 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
108 bool getOptions(
int argc,
const char **argv)
115 case 'h': usage(argv[0], NULL);
return false;
break;
118 usage(argv[0], optarg);
123 if ((c == 1) || (c == -1)) {
125 usage(argv[0], NULL);
126 std::cerr <<
"ERROR: " << std::endl;
127 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
135 main(
int argc,
const char ** argv)
138 if (getOptions(argc, argv) ==
false) {
145 std::cout << std::endl ;
146 std::cout <<
"-------------------------------------------------------" << std::endl ;
147 std::cout <<
" Test program for vpServo " <<std::endl ;
148 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
149 std::cout <<
" Simulation " << std::endl ;
150 std::cout <<
" task : servo a 3D point " << std::endl ;
151 std::cout <<
"-------------------------------------------------------" << std::endl ;
152 std::cout << std::endl ;
171 std::cout <<
"Point coordinates in the camera frame: " << point.
cP.
t() ;
186 std::cout << std::endl ;
195 unsigned int iter=0 ;
199 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
218 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;