28 #include <plugins/openrave/types.h> 29 #include <plugins/openrave/environment.h> 30 #include <plugins/openrave/robot.h> 31 #include <plugins/openrave/manipulators/katana6M180.h> 32 #include <logging/console.h> 42 printVector(vector<float> &v)
46 for(
unsigned int i=0; i<v.size(); i++)
48 s <<
"(" << i <<
")" << v[i] <<
" ";
51 printf(
"%s \n", s.str().c_str());
55 main(
int argc,
char **argv)
57 printf(
"++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
59 string robotFile = SRCDIR
"/../manipulators/katana.robot.xml";
70 robot->load(robotFile, env);
77 manip->add_motor(0,0);
78 manip->add_motor(1,1);
79 manip->add_motor(2,2);
80 manip->add_motor(4,3);
81 manip->add_motor(5,4);
82 robot->set_manipulator(manip);
84 env->add_robot(robot);
96 manip->set_angles_device(val);
99 manip->get_angles_device(v);
107 robot->update_manipulator();
108 manip->get_angles(v);
110 manip->get_angles_device(v);
Class containing information about all katana6M180 motors.
Interface for logging to stderr.
Fawkes library namespace.
virtual const char * what() const
Get primary string.
virtual void log_error(const char *component, const char *format,...)
Log error message.
Base class for exceptions in Fawkes.
OpenRaveEnvironment class.