Visual Servoing Platform version 3.6.0
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tutorial-ibvs-4pts-plotter.cpp
1
2#include <visp3/gui/vpPlot.h>
3#include <visp3/robot/vpSimulatorCamera.h>
4#include <visp3/visual_features/vpFeatureBuilder.h>
5#include <visp3/vs/vpServo.h>
6
7int main()
8{
9 try {
10 vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
11 vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
12
13 vpPoint point[4];
14 point[0].setWorldCoordinates(-0.1, -0.1, 0);
15 point[1].setWorldCoordinates(0.1, -0.1, 0);
16 point[2].setWorldCoordinates(0.1, 0.1, 0);
17 point[3].setWorldCoordinates(-0.1, 0.1, 0);
18
19 vpServo task;
22 task.setLambda(0.5);
23
24 vpFeaturePoint p[4], pd[4];
25 for (unsigned int i = 0; i < 4; i++) {
26 point[i].track(cdMo);
27 vpFeatureBuilder::create(pd[i], point[i]);
28 point[i].track(cMo);
29 vpFeatureBuilder::create(p[i], point[i]);
30 task.addFeature(p[i], pd[i]);
31 }
32
33 vpHomogeneousMatrix wMc, wMo;
35 robot.setSamplingTime(0.040);
36 robot.getPosition(wMc);
37 wMo = wMc * cMo;
38
39#ifdef VISP_HAVE_DISPLAY
40 vpPlot plotter(2, 250 * 2, 500, 100, 200, "Real time curves plotter");
41 plotter.setTitle(0, "Visual features error");
42 plotter.setTitle(1, "Camera velocities");
43
44 plotter.initGraph(0, 8);
45 plotter.initGraph(1, 6);
46
47 plotter.setLegend(0, 0, "x1");
48 plotter.setLegend(0, 1, "y1");
49 plotter.setLegend(0, 2, "x2");
50 plotter.setLegend(0, 3, "y2");
51 plotter.setLegend(0, 4, "x3");
52 plotter.setLegend(0, 5, "y3");
53 plotter.setLegend(0, 6, "x4");
54 plotter.setLegend(0, 7, "y4");
55
56 plotter.setLegend(1, 0, "v_x");
57 plotter.setLegend(1, 1, "v_y");
58 plotter.setLegend(1, 2, "v_z");
59 plotter.setLegend(1, 3, "w_x");
60 plotter.setLegend(1, 4, "w_y");
61 plotter.setLegend(1, 5, "w_z");
62#endif
63
64 unsigned int iter = 0;
65 while (1) {
66 robot.getPosition(wMc);
67 cMo = wMc.inverse() * wMo;
68 for (unsigned int i = 0; i < 4; i++) {
69 point[i].track(cMo);
70 vpFeatureBuilder::create(p[i], point[i]);
71 }
74
75#ifdef VISP_HAVE_DISPLAY
76 plotter.plot(0, iter, task.getError());
77 plotter.plot(1, iter, v);
78#endif
79 if ((task.getError()).sumSquare() < 0.0001)
80 break;
81
82 vpTime::wait(100);
83
84 iter++;
85 }
86 std::cout << "Convergence in " << iter << " iterations" << std::endl;
87
88#ifdef VISP_HAVE_DISPLAY
89 plotter.saveData(0, "error.dat");
90 plotter.saveData(1, "vc.dat");
91
92 vpDisplay::getClick(plotter.I);
93#endif
94 } catch (const vpException &e) {
95 std::cout << "Catch an exception: " << e << std::endl;
96 }
97}
Implementation of column vector and the associated operations.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
Definition vpMath.h:116
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition vpPlot.h:113
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
void setWorldCoordinates(double oX, double oY, double oZ)
Definition vpPoint.cpp:110
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition vpRobot.h:80
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition vpServo.cpp:564
@ EYEINHAND_CAMERA
Definition vpServo.h:151
void setLambda(double c)
Definition vpServo.h:403
void setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
vpColVector getError() const
Definition vpServo.h:276
vpColVector computeControlLaw()
Definition vpServo.cpp:930
@ CURRENT
Definition vpServo.h:179
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487
Class that defines the simplest robot: a free flying camera.
VISP_EXPORT int wait(double t0, double t)