Visual Servoing Platform version 3.6.0
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servoSimu3D_cMcd_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*****************************************************************************/
78#include <stdio.h>
79#include <stdlib.h>
80
81#include <visp3/core/vpHomogeneousMatrix.h>
82#include <visp3/core/vpIoTools.h>
83#include <visp3/core/vpMath.h>
84#include <visp3/io/vpParseArgv.h>
85#include <visp3/robot/vpSimulatorCamera.h>
86#include <visp3/visual_features/vpFeatureThetaU.h>
87#include <visp3/visual_features/vpFeatureTranslation.h>
88#include <visp3/vs/vpServo.h>
89
90// List of allowed command line options
91#define GETOPTARGS "h"
92
93void usage(const char *name, const char *badparam);
94bool getOptions(int argc, const char **argv);
95
104void usage(const char *name, const char *badparam)
105{
106 fprintf(stdout, "\n\
107Simulation of a 3D visual servoing:\n\
108- eye-in-hand control law,\n\
109- velocity computed in the camera frame,\n\
110- without display.\n\
111\n\
112SYNOPSIS\n\
113 %s [-h]\n",
114 name);
115
116 fprintf(stdout, "\n\
117OPTIONS: Default\n\
118\n\
119 -h\n\
120 Print the help.\n");
121
122 if (badparam)
123 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
124}
125
135bool getOptions(int argc, const char **argv)
136{
137 const char *optarg_;
138 int c;
139 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
140
141 switch (c) {
142 case 'h':
143 usage(argv[0], NULL);
144 return false;
145
146 default:
147 usage(argv[0], optarg_);
148 return false;
149 }
150 }
151
152 if ((c == 1) || (c == -1)) {
153 // standalone param or error
154 usage(argv[0], NULL);
155 std::cerr << "ERROR: " << std::endl;
156 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
157 return false;
158 }
159
160 return true;
161}
162
163int main(int argc, const char **argv)
164{
165 try {
166 // Read the command line options
167 if (getOptions(argc, argv) == false) {
168 return EXIT_FAILURE;
169 }
170
171 // Log file creation in /tmp/$USERNAME/log.dat
172 // This file contains by line:
173 // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
174 // - the 6 values of s - s*
175 std::string username;
176 // Get the user login name
177 vpIoTools::getUserName(username);
178
179 // Create a log filename to save velocities...
180 std::string logdirname;
181#if defined(_WIN32)
182 logdirname = "C:/temp/" + username;
183#else
184 logdirname = "/tmp/" + username;
185#endif
186 // Test if the output path exist. If no try to create it
187 if (vpIoTools::checkDirectory(logdirname) == false) {
188 try {
189 // Create the dirname
190 vpIoTools::makeDirectory(logdirname);
191 }
192 catch (...) {
193 std::cerr << std::endl << "ERROR:" << std::endl;
194 std::cerr << " Cannot create " << logdirname << std::endl;
195 return EXIT_FAILURE;
196 }
197 }
198 std::string logfilename;
199 logfilename = logdirname + "/log.dat";
200
201 // Open the log file name
202 std::ofstream flog(logfilename.c_str());
203
204 vpSimulatorCamera robot;
205
206 std::cout << std::endl;
207 std::cout << "-------------------------------------------------------" << std::endl;
208 std::cout << " Test program for vpServo " << std::endl;
209 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
210 std::cout << " Simulation " << std::endl;
211 std::cout << " task : 3D visual servoing " << std::endl;
212 std::cout << "-------------------------------------------------------" << std::endl;
213 std::cout << std::endl;
214
215 // Sets the initial camera location
216 vpPoseVector c_r_o( // Translation tx,ty,tz
217 0.1, 0.2, 2,
218 // ThetaU rotation
219 vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
220
221 // From the camera pose build the corresponding homogeneous matrix
222 vpHomogeneousMatrix cMo(c_r_o);
223
224 // Set the robot initial position
225 vpHomogeneousMatrix wMc, wMo;
226 robot.getPosition(wMc);
227 wMo = wMc * cMo; // Compute the position of the object in the world frame
228
229 // Sets the desired camera location
230 vpPoseVector cd_r_o( // Translation tx,ty,tz
231 0, 0, 1,
232 // ThetaU rotation
234
235 // From the camera desired pose build the corresponding homogeneous matrix
236 vpHomogeneousMatrix cdMo(cd_r_o);
237
238 vpHomogeneousMatrix cMcd; // Transformation between current and desired camera frame
239 vpRotationMatrix cRcd; // Rotation between current and desired camera frame
240
241 // Set the constant gain of the servo
242 double lambda = 1;
243
244 unsigned int iter = 0;
245 // Start the visual servoing loop. We stop the servo after 200 iterations
246 while (iter++ < 200) {
247 std::cout << "------------------------------------" << iter << std::endl;
248
249 // get the robot position
250 robot.getPosition(wMc);
251 // Compute the position of the object frame in the camera frame
252 cMo = wMc.inverse() * wMo;
253
254 // new displacement to achieve
255 cMcd = cMo * cdMo.inverse();
256
257 // Extract the translation vector ctc* which is the current
258 // translational visual feature.
260 cMcd.extract(ctcd);
261 // Compute the current theta U visual feature
262 vpThetaUVector tu_cRcd(cMcd);
263
264 // Create the identity matrix
265 vpMatrix I(3, 3);
266 I.eye();
267
268 // Compute the camera translational velocity
269 vpColVector v(3);
270 v = lambda * (I - vpColVector::skew(tu_cRcd)) * ctcd;
271 // Compute the camera rotational velocity
272 vpColVector w(3);
273 w = lambda * tu_cRcd;
274
275 // Update the complete camera velocity vector
276 vpColVector velocity(6);
277 for (unsigned int i = 0; i < 3; i++) {
278 velocity[i] = v[i]; // Translational velocity
279 velocity[i + 3] = w[i]; // Rotational velocity
280 }
281
282 // Send the camera velocity to the controller
283 robot.setVelocity(vpRobot::CAMERA_FRAME, velocity);
284
285 // Retrieve the error (s-s*)
286 std::cout << "|| s - s* || = " << ctcd.t() << " " << tu_cRcd.t() << std::endl;
287
288 // Save log
289 flog << velocity.t() << " " << ctcd.t() << " " << tu_cRcd.t() << std::endl;
290 }
291
292 // Close the log file
293 flog.close();
294 return EXIT_SUCCESS;
295 }
296 catch (const vpException &e) {
297 std::cout << "Catch a ViSP exception: " << e << std::endl;
298 return EXIT_FAILURE;
299 }
300}
Implementation of column vector and the associated operations.
static vpMatrix skew(const vpColVector &v)
vpRowVector t() const
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
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
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.
vpColVector t() 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.