58 #include <visp/vpFeatureBuilder.h>
59 #include <visp/vpFeaturePoint.h>
60 #include <visp/vpFeatureThetaU.h>
61 #include <visp/vpGenericFeature.h>
62 #include <visp/vpHomogeneousMatrix.h>
63 #include <visp/vpMath.h>
64 #include <visp/vpParseArgv.h>
65 #include <visp/vpPoint.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 2 1/2 D visual servoing (x,y,Z,theta U):\n\
84 - eye-in-hand control law,\n\
85 - velocity computed in the camera frame,\n\
98 fprintf(stderr,
"ERROR: \n" );
99 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
113 bool getOptions(
int argc,
const char **argv)
120 case 'h': usage(argv[0], NULL);
return false;
break;
123 usage(argv[0], optarg);
128 if ((c == 1) || (c == -1)) {
130 usage(argv[0], NULL);
131 std::cerr <<
"ERROR: " << std::endl;
132 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
140 main(
int argc,
const char ** argv)
143 if (getOptions(argc, argv) ==
false) {
150 std::cout << std::endl ;
151 std::cout <<
"-------------------------------------------------------" << std::endl ;
152 std::cout <<
" Test program for vpServo " <<std::endl ;
153 std::cout <<
" task : 2 1/2 D visual servoing " << std::endl ;
154 std::cout <<
"-------------------------------------------------------" << std::endl ;
155 std::cout << std::endl ;
229 unsigned int iter=0 ;
233 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
254 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
260 std::cout <<
"Final camera location:\n " << cMo << std::endl ;