58 #include <visp/vpFeatureBuilder.h>
59 #include <visp/vpFeaturePoint.h>
60 #include <visp/vpFeatureThetaU.h>
61 #include <visp/vpGenericFeature.h>
62 #include <visp/vpHomogeneousMatrix.h>
63 #include <visp/vpMath.h>
64 #include <visp/vpParseArgv.h>
65 #include <visp/vpPoint.h>
66 #include <visp/vpServo.h>
67 #include <visp/vpSimulatorCamera.h>
70 #define GETOPTARGS "h"
80 void usage(
const char *name,
const char *badparam)
83 Simulation of a 2 1/2 D visual servoing (x,y,log Z, theta U):\n\
84 - eye-in-hand control law,\n\
85 - velocity computed in the camera frame,\n\
98 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
110 bool getOptions(
int argc,
const char **argv)
117 case 'h': usage(argv[0], NULL);
return false;
break;
120 usage(argv[0], optarg);
125 if ((c == 1) || (c == -1)) {
127 usage(argv[0], NULL);
128 std::cerr <<
"ERROR: " << std::endl;
129 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
137 main(
int argc,
const char ** argv)
140 if (getOptions(argc, argv) ==
false) {
144 std::cout << std::endl ;
145 std::cout <<
"-------------------------------------------------------" << std::endl ;
146 std::cout <<
" simulation of a 2 1/2 D visual servoing " << std::endl ;
147 std::cout <<
"-------------------------------------------------------" << std::endl ;
148 std::cout << std::endl ;
258 logZ.set_s(log(point.
get_Z()/pointd.
get_Z())) ;
311 unsigned int iter=0 ;
315 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
332 logZ.set_s(log(point.
get_Z()/pointd.
get_Z())) ;
334 LlogZ[0][0] = LlogZ[0][1] = LlogZ[0][5] = 0 ;
335 LlogZ[0][2] = -1/p.
get_Z() ;
336 LlogZ[0][3] = -p.
get_y() ;
337 LlogZ[0][4] = p.
get_x() ;
339 logZ.setInteractionMatrix(LlogZ) ;
347 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
354 std::cout << cMo << std::endl ;