Visual Servoing Platform
version 3.3.0
testFeature.cpp
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Visual feature manipulation.
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*
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* Author:
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* Fabien Spindler
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*
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*****************************************************************************/
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#include <visp3/blob/vpDot2.h>
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#include <visp3/core/vpCameraParameters.h>
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#include <visp3/core/vpColVector.h>
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#include <visp3/core/vpHomogeneousMatrix.h>
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#include <visp3/core/vpRotationMatrix.h>
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#include <visp3/core/vpTranslationVector.h>
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#include <visp3/visual_features/vpFeatureBuilder.h>
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#include <visp3/visual_features/vpFeaturePoint.h>
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#include <visp3/visual_features/vpFeatureThetaU.h>
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#include <visp3/visual_features/vpGenericFeature.h>
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#include <visp3/vs/vpServo.h>
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#include <iostream>
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int
main()
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{
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try
{
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for
(
int
i = 0; i < 3; i++) {
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vpServo
task;
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// Creation od a Theta U vector that represent the rotation
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// between the desired camera frame and the current one.
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vpThetaUVector
tu_cdRc;
// Current visual feature s
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tu_cdRc[0] = 0.1;
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tu_cdRc[1] = 0.2;
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tu_cdRc[2] = 0.3;
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// Creation of the current feature s
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vpFeatureThetaU
s(
vpFeatureThetaU::cdRc
);
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s.buildFrom(tu_cdRc);
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s.print();
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task.
addFeature
(s);
// Add current ThetaU feature
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// Creation of the desired feature s^*
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vpFeatureThetaU
s_star(
vpFeatureThetaU::cdRc
);
// init to zero
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// Compute the interaction matrix for the ThetaU_z feature
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vpMatrix
L_z = s.interaction(
vpFeatureThetaU::selectTUz
());
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// Compute the error vector (s-s^*) for the ThetaU_z feature
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s.error(s_star,
vpFeatureThetaU::selectTUz
());
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// A call to kill() is requested here to destroy properly the current
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// and desired feature lists.
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task.
kill
();
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std::cout <<
"End, call vpServo destructors..."
<< std::endl;
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}
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return
0;
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}
catch
(
const
vpException
&e) {
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std::cout <<
"Catch an exception: "
<< e << std::endl;
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return
1;
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}
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}
vpFeatureThetaU::selectTUz
static unsigned int selectTUz()
Definition:
vpFeatureThetaU.cpp:769
vpServo::kill
void kill()
Definition:
vpServo.cpp:192
vpThetaUVector
Implementation of a rotation vector as axis-angle minimal representation.
Definition:
vpThetaUVector.h:173
vpMatrix
Implementation of a matrix and operations on matrices.
Definition:
vpMatrix.h:165
vpFeatureThetaU::cdRc
@ cdRc
Definition:
vpFeatureThetaU.h:236
vpFeatureThetaU
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Definition:
vpFeatureThetaU.h:225
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition:
vpServo.cpp:497
vpServo
Definition:
vpServo.h:151
vpException
error that can be emited by ViSP classes.
Definition:
vpException.h:72
modules
vs
test
visual-feature
testFeature.cpp
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