Fawkes API Fawkes Development Version
qa_env.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-core.h>
28#include <logging/console.h>
29#include <plugins/openrave/environment.h>
30
31#include <cstdio>
32#include <iostream>
33#include <vector>
34
35using namespace fawkes;
36using namespace std;
37
38void
39printVector(std::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
54 //OpenRAVE::RaveInitialize(true); //optional..should be done automatically if not explicitly implemented
55
57 env = new OpenRaveEnvironment(cl);
58 env->create();
59
60 env->enable_debug();
61
62 string robotFile = SRCDIR "/../manipulators/katana.robot.xml";
63 env->add_robot(robotFile);
64
65 env->lock();
66
67 env->start_viewer();
68
69 usleep(1000 * 10000);
70
71 env->destroy();
72
73 return 0;
74}
75
76/// @endcond
Interface for logging to stderr.
Definition: console.h:37
OpenRaveEnvironment class.
Definition: environment.h:44
virtual void create()
Create and lock the environment.
virtual void add_robot(const std::string &filename)
Add a robot into the scene.
virtual void enable_debug(OpenRAVE::DebugLevel level=OpenRAVE::Level_Debug)
Enable debugging messages of OpenRAVE.
virtual void start_viewer()
Starts the qt viewer in a separate thread.
virtual void destroy()
Destroy the environment.
Fawkes library namespace.