Fawkes API Fawkes Development Version
qa_connector.cpp
1
2/***************************************************************************
3 * qa_env.cpp - QA for OpenRAVE Environment class
4 *
5 * Created: Thu Sep 16 14:50:34 2010
6 * Copyright 2010 Bahram Maleki-Fard, AllemaniACs RoboCup Team
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24// Do not include in api reference
25///@cond QA
26
27#include <openrave/connector.h>
28#include <openrave/manipulators/katana6M180.h>
29#include <utils/logging/console.h>
30
31#include <cstdio>
32#include <iostream>
33#include <vector>
34
35using namespace fawkes;
36using namespace std;
37
38void
39printVector(vector<float> v)
40{
41 printf("## size:%zu \n", v.size());
42 for (unsigned int i = 0; i < v.size(); i++) {
43 printf("## %u:)%f \n", i, v[i]);
44 }
45}
46
47int
48main(int argc, char **argv)
49{
50 printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
51
52 ConsoleLogger *cl = new ConsoleLogger();
53 string robotFile = "../src/plugins/openrave/xml/caesar.robot.xml";
54
55 OpenRAVEConnector *con = new OpenRAVEConnector(cl);
56 con->setup(robotFile);
57
58 // configure manipulator
59 OpenRAVEManipulatorKatana6M180 *manipKatana_ = new OpenRAVEManipulatorKatana6M180(6, 5);
60 manipKatana_->addMotor(0, 0);
61 manipKatana_->addMotor(1, 1);
62 manipKatana_->addMotor(2, 2);
63 manipKatana_->addMotor(4, 3);
64 manipKatana_->addMotor(5, 4);
65
66 con->setManipulator(manipKatana_);
67
68 //con->startViewer();
69
70 //usleep(5000*1000);
71 //free(con);
72
73 return 1;
74}
75
76/// @endcond
Interface for logging to stderr.
Definition: console.h:37
Fawkes library namespace.