Fawkes API  Fawkes Development Version
qa_connector.cpp
00001 
00002 /***************************************************************************
00003  *  qa_env.cpp - QA for OpenRAVE Environment class
00004  *
00005  *  Created: Thu Sep 16 14:50:34 2010
00006  *  Copyright  2010  Bahram Maleki-Fard, AllemaniACs RoboCup Team
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 // Do not include in api reference
00025 ///@cond QA
00026 
00027 #include <openrave/connector.h>
00028 #include <openrave/manipulators/katana6M180.h>
00029 #include <utils/logging/console.h>
00030 #include <cstdio>
00031 #include <iostream>
00032 #include <vector>
00033 
00034 using namespace fawkes;
00035 using namespace std;
00036 
00037 void
00038 printVector(vector<float> v)
00039 {
00040   printf("## size:%u \n", v.size());
00041   for(unsigned int i=0; i<v.size(); i++)
00042   {
00043     printf("## %u:)%f \n", i, v[i]);
00044   }
00045 }
00046 
00047 int
00048 main(int argc, char **argv)
00049 {
00050   printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
00051 
00052   ConsoleLogger* cl = new ConsoleLogger();
00053   string robotFile = "../src/plugins/openrave/xml/caesar.robot.xml";
00054 
00055   OpenRAVEConnector* con = new OpenRAVEConnector(cl);
00056   con->setup(robotFile);
00057 
00058  // configure manipulator
00059   OpenRAVEManipulatorKatana6M180* __manipKatana = new OpenRAVEManipulatorKatana6M180(6, 5);
00060   __manipKatana->addMotor(0,0);
00061   __manipKatana->addMotor(1,1);
00062   __manipKatana->addMotor(2,2);
00063   __manipKatana->addMotor(4,3);
00064   __manipKatana->addMotor(5,4);
00065 
00066   con->setManipulator(__manipKatana);
00067 
00068   //con->startViewer();
00069 
00070 
00071   //usleep(5000*1000);
00072   //free(con);
00073 
00074 
00075 
00076 
00077 
00078   return 1;
00079 }
00080 
00081 
00082 /// @endcond