60 #include <visp/vpConfig.h>
61 #include <visp/vpFeatureBuilder.h>
62 #include <visp/vpFeaturePoint.h>
63 #include <visp/vpHomogeneousMatrix.h>
64 #include <visp/vpMath.h>
65 #include <visp/vpParseArgv.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 2D visual servoing:\n\
84 - servo on 4 points,\n\
85 - eye-in-hand control law,\n\
86 - articular velocity are computed,\n\
99 fprintf(stderr,
"ERROR: \n" );
100 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
114 bool getOptions(
int argc,
const char **argv)
121 case 'h': usage(argv[0], NULL);
return false;
break;
124 usage(argv[0], optarg);
129 if ((c == 1) || (c == -1)) {
131 usage(argv[0], NULL);
132 std::cerr <<
"ERROR: " << std::endl;
133 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
141 main(
int argc,
const char ** argv)
144 if (getOptions(argc, argv) ==
false) {
153 std::cout << std::endl ;
154 std::cout <<
"-------------------------------------------------------" << std::endl ;
155 std::cout <<
" Test program for vpServo " <<std::endl ;
156 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl ;
157 std::cout <<
" Simulation " << std::endl ;
158 std::cout <<
" task : servo 4 points " << std::endl ;
159 std::cout <<
"-------------------------------------------------------" << std::endl ;
160 std::cout << std::endl ;
181 for (i = 0 ; i < 4 ; i++)
182 point[i].track(cMo) ;
186 for (i = 0 ; i < 4 ; i++)
214 for (i = 0 ; i < 4 ; i++)
223 unsigned int iter=0 ;
227 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
241 for (i = 0 ; i < 4 ; i++)
243 point[i].
track(cMo) ;
259 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() << std::endl;