54 #include <visp/vpFeatureBuilder.h>
55 #include <visp/vpFeaturePoint.h>
56 #include <visp/vpHomogeneousMatrix.h>
57 #include <visp/vpMath.h>
58 #include <visp/vpParseArgv.h>
59 #include <visp/vpServo.h>
60 #include <visp/vpSimulatorCamera.h>
63 #define GETOPTARGS "h"
73 void usage(
const char *name,
const char *badparam)
76 Simulation of a 2D visual servoing on a point:\n\
77 - eye-in-hand control law,\n\
78 - velocity computed in the camera frame,\n\
91 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
104 bool getOptions(
int argc,
const char **argv)
111 case 'h': usage(argv[0], NULL);
return false;
break;
114 usage(argv[0], optarg);
119 if ((c == 1) || (c == -1)) {
121 usage(argv[0], NULL);
122 std::cerr <<
"ERROR: " << std::endl;
123 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
131 main(
int argc,
const char ** argv)
134 if (getOptions(argc, argv) ==
false) {
173 std::cout << std::endl ;
182 unsigned int iter=0 ;
186 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
205 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;