Visual Servoing Platform  version 3.0.1
testFeature.cpp
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Visual feature manipulation.
32  *
33  * Author:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
38 
39 #include <visp3/core/vpColVector.h>
40 #include <visp3/core/vpTranslationVector.h>
41 #include <visp3/core/vpRotationMatrix.h>
42 #include <visp3/core/vpHomogeneousMatrix.h>
43 #include <visp3/vs/vpServo.h>
44 #include <visp3/visual_features/vpFeaturePoint.h>
45 #include <visp3/visual_features/vpGenericFeature.h>
46 #include <visp3/visual_features/vpFeatureBuilder.h>
47 #include <visp3/visual_features/vpFeatureThetaU.h>
48 #include <visp3/blob/vpDot2.h>
49 #include <visp3/core/vpCameraParameters.h>
50 
51 #include <iostream>
52 
60 int main()
61 {
62  try {
63  for (int i=0; i < 3; i++) {
64  vpServo task ;
65 
66  // Creation od a Theta U vector that represent the rotation
67  // between the desired camera frame and the current one.
68  vpThetaUVector tu_cdRc; // Current visual feature s
69  tu_cdRc[0] =0.1;
70  tu_cdRc[1] =0.2;
71  tu_cdRc[2] =0.3;
72 
73  // Creation of the current feature s
75  s.buildFrom(tu_cdRc);
76  s.print();
77  task.addFeature(s); // Add current ThetaU feature
78 
79  // Creation of the desired feature s^*
80  vpFeatureThetaU s_star(vpFeatureThetaU::cdRc); // init to zero
81 
82  // Compute the interaction matrix for the ThetaU_z feature
83  vpMatrix L_z = s.interaction( vpFeatureThetaU::selectTUz() );
84  // Compute the error vector (s-s^*) for the ThetaU_z feature
85  s.error(s_star, vpFeatureThetaU::selectTUz());
86 
87  // A call to kill() is requested here to destroy properly the current
88  // and desired feature lists.
89  task.kill();
90 
91  std::cout << "End, call vpServo destructors..." << std::endl;
92  }
93  return 0;
94  }
95  catch(vpException &e) {
96  std::cout << "Catch an exception: " << e << std::endl;
97  return 1;
98  }
99 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:512
error that can be emited by ViSP classes.
Definition: vpException.h:73
void kill()
Definition: vpServo.cpp:191
static unsigned int selectTUz()
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Implementation of a rotation vector as axis-angle minimal representation.