Fawkes API
Fawkes Development Version
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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-core.h> 00028 #include <plugins/openrave/environment.h> 00029 #include <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(std::vector<float> &v) 00039 { 00040 printf("## size:%lu \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 00054 //OpenRAVE::RaveInitialize(true); //optional..should be done automatically if not explicitly implemented 00055 00056 OpenRaveEnvironment* env; 00057 env = new OpenRaveEnvironment(cl); 00058 env->create(); 00059 00060 env->enable_debug(); 00061 00062 string robotFile = SRCDIR"/../manipulators/katana.robot.xml"; 00063 env->add_robot(robotFile); 00064 00065 env->lock(); 00066 00067 env->start_viewer(); 00068 00069 usleep(1000*10000); 00070 00071 env->destroy(); 00072 00073 return 0; 00074 } 00075 00076 00077 /// @endcond