27 #include <openrave/openrave.h> 29 #include <plugins/openrave/environment.h> 30 #include <plugins/openrave/robot.h> 31 #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";
66 vector<OpenRAVE::RobotBasePtr> robots;
67 list<OpenRAVE::ModuleBasePtr> modules;
73 env->get_env_ptr()->GetModules(modules);
74 env->get_env_ptr()->GetRobots(robots);
75 cl->
log_debug(
"qa_modules",
"Environment created");
76 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
82 robot->load(robotFile, env);
88 env->get_env_ptr()->GetModules(modules);
89 env->get_env_ptr()->GetRobots(robots);
90 cl->
log_debug(
"qa_modules",
"Robot loaded");
91 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
95 env->add_robot(robot);
98 env->get_env_ptr()->GetModules(modules);
99 env->get_env_ptr()->GetRobots(robots);
100 cl->
log_debug(
"qa_modules",
"Robot initialized");
101 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
107 env->get_env_ptr()->GetModules(modules);
108 env->get_env_ptr()->GetRobots(robots);
109 cl->
log_debug(
"qa_modules",
"Robot Destroyed");
110 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
Interface for logging to stderr.
Fawkes library namespace.
virtual void log_debug(const char *component, const char *format,...)
Log debug message.
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.
RefPtr<> is a reference-counting shared smartpointer.