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 on a point:\n\
84 - eye-in-hand control law,\n\
85 - articular velocity are computed,\n\
87 - only the X coordinate of the point is selected.\n\
99 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
112 bool getOptions(
int argc,
const char **argv)
119 case 'h': usage(argv[0], NULL);
return false;
break;
122 usage(argv[0], optarg);
127 if ((c == 1) || (c == -1)) {
129 usage(argv[0], NULL);
130 std::cerr <<
"ERROR: " << std::endl;
131 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
139 main(
int argc,
const char ** argv)
142 if (getOptions(argc, argv) ==
false) {
149 std::cout << std::endl ;
150 std::cout <<
"-------------------------------------------------------" << std::endl ;
151 std::cout <<
" Test program for vpServo " <<std::endl ;
152 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl ;
153 std::cout <<
" Simulation " << std::endl ;
154 std::cout <<
" task : servo a point " << std::endl ;
155 std::cout <<
"-------------------------------------------------------" << std::endl ;
156 std::cout << std::endl ;
207 unsigned int iter=0 ;
211 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
234 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;