Visual Servoing Platform version 3.6.0
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servoSimu3D_cdMc_CamVelocityWithoutVpServo.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.
33 *
34*****************************************************************************/
70#include <stdio.h>
71#include <stdlib.h>
72#include <string>
73
74#include <visp3/core/vpHomogeneousMatrix.h>
75#include <visp3/core/vpIoTools.h>
76#include <visp3/core/vpMath.h>
77#include <visp3/core/vpThetaUVector.h>
78#include <visp3/core/vpTranslationVector.h>
79#include <visp3/io/vpParseArgv.h>
80#include <visp3/robot/vpSimulatorCamera.h>
81
82// List of allowed command line options
83#define GETOPTARGS "h"
84
85void usage(const char *name, const char *badparam);
86bool getOptions(int argc, const char **argv);
87
96void usage(const char *name, const char *badparam)
97{
98 fprintf(stdout, "\n\
99Simulation of a 3D visual servoing:\n\
100- eye-in-hand control law,\n\
101- velocity computed in the camera frame,\n\
102- without display.\n\
103\n\
104SYNOPSIS\n\
105 %s [-h]\n",
106 name);
107
108 fprintf(stdout, "\n\
109OPTIONS: Default\n\
110\n\
111 -h\n\
112 Print the help.\n");
113
114 if (badparam)
115 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
116}
117
127bool getOptions(int argc, const char **argv)
128{
129 const char *optarg_;
130 int c;
131 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
132
133 switch (c) {
134 case 'h':
135 usage(argv[0], NULL);
136 return false;
137
138 default:
139 usage(argv[0], optarg_);
140 return false;
141 }
142 }
143
144 if ((c == 1) || (c == -1)) {
145 // standalone param or error
146 usage(argv[0], NULL);
147 std::cerr << "ERROR: " << std::endl;
148 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
149 return false;
150 }
151
152 return true;
153}
154
155int main(int argc, const char **argv)
156{
157 try {
158 // Read the command line options
159 if (getOptions(argc, argv) == false) {
160 return EXIT_FAILURE;
161 }
162 // Log file creation in /tmp/$USERNAME/log.dat
163 // This file contains by line:
164 // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
165 // - the 6 values of s - s*
166 std::string username;
167 // Get the user login name
168 vpIoTools::getUserName(username);
169
170 // Create a log filename to save velocities...
171 std::string logdirname;
172#if defined(_WIN32)
173 logdirname = "C:/temp/" + username;
174#else
175 logdirname = "/tmp/" + username;
176#endif
177
178 // Test if the output path exist. If no try to create it
179 if (vpIoTools::checkDirectory(logdirname) == false) {
180 try {
181 // Create the dirname
182 vpIoTools::makeDirectory(logdirname);
183 }
184 catch (...) {
185 std::cerr << std::endl << "ERROR:" << std::endl;
186 std::cerr << " Cannot create " << logdirname << std::endl;
187 return EXIT_FAILURE;
188 }
189 }
190 std::string logfilename;
191 logfilename = logdirname + "/log.dat";
192
193 // Open the log file name
194 std::ofstream flog(logfilename.c_str());
195
196 vpSimulatorCamera robot;
197
198 std::cout << std::endl;
199 std::cout << "-------------------------------------------------------" << std::endl;
200 std::cout << " Test program without vpServo and vpFeature classes " << std::endl;
201 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
202 std::cout << " Simulation " << std::endl;
203 std::cout << " task : 3D visual servoing " << std::endl;
204 std::cout << "-------------------------------------------------------" << std::endl;
205 std::cout << std::endl;
206
207 // Sets the initial camera location
208 vpPoseVector c_r_o( // Translation tx,ty,tz
209 0.1, 0.2, 2,
210 // ThetaU rotation
211 vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
212
213 // From the camera pose build the corresponding homogeneous matrix
214 vpHomogeneousMatrix cMo(c_r_o);
215
216 // Set the robot initial position
217 vpHomogeneousMatrix wMc, wMo;
218 robot.getPosition(wMc);
219 wMo = wMc * cMo; // Compute the position of the object in the world frame
220
221 // Sets the desired camera location
222 vpPoseVector cd_r_o( // Translation tx,ty,tz
223 0, 0, 1,
224 // ThetaU rotation
226 // From the camera desired pose build the corresponding homogeneous matrix
227 vpHomogeneousMatrix cdMo(cd_r_o);
228
229 vpHomogeneousMatrix cdMc; // Transformation between desired and current camera frame
230 vpRotationMatrix cdRc; // Rotation between desired and current camera frame
231 vpRotationMatrix cRcd; // Rotation between current and desired camera frame
232
233 // Set the constant gain of the servo
234 double lambda = 1;
235
236 unsigned int iter = 0;
237 // Start the visual servoing loop. We stop the servo after 200 iterations
238 while (iter++ < 200) {
239 std::cout << "-----------------------------------" << iter << std::endl;
240
241 // get the robot position
242 robot.getPosition(wMc);
243 // Compute the position of the object frame in the camera frame
244 cMo = wMc.inverse() * wMo;
245
246 // new displacement to achieve
247 cdMc = cdMo * cMo.inverse();
248
249 // Extract the translation vector c*tc which is the current
250 // translational visual feature.
252 cdMc.extract(cdtc);
253 // Extract the rotation matrix c*Rc
254 cdMc.extract(cdRc);
255 // Compute the inverse rotation cRc* (in fact the transpose of c*Rc)
256 cRcd = cdRc.inverse();
257 // Compute the current theta U visual feature
258 vpThetaUVector tu_cdRc(cdMc);
259 // Compute the camera translational velocity
260 vpColVector v(3);
261 v = -lambda * cRcd * cdtc;
262 // Compute the camera rotational velocity
263 vpColVector w(3);
264 w = -lambda * tu_cdRc;
265
266 // Update the complete camera velocity vector
267 vpColVector velocity(6);
268 for (unsigned int i = 0; i < 3; i++) {
269 velocity[i] = v[i]; // Translational velocity
270 velocity[i + 3] = w[i]; // Rotational velocity
271 }
272
273 // Send the camera velocity to the controller
274 robot.setVelocity(vpRobot::CAMERA_FRAME, velocity);
275
276 // Retrieve the error (s-s*)
277 std::cout << "|| s - s* || = " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
278
279 // Save log
280 flog << velocity.t() << " " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
281 }
282 // Close the log file
283 flog.close();
284 return EXIT_SUCCESS;
285 }
286 catch (const vpException &e) {
287 std::cout << "Catch a ViSP exception: " << e << std::endl;
288 return EXIT_FAILURE;
289 }
290}
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void extract(vpRotationMatrix &R) const
static bool checkDirectory(const std::string &dirname)
static std::string getUserName()
static void makeDirectory(const std::string &dirname)
static double rad(double deg)
Definition vpMath.h:116
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition vpRobot.h:80
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix inverse() const
Class that defines the simplest robot: a free flying camera.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.