Fawkes API
Fawkes Development Version
qa_env.cpp
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/***************************************************************************
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* qa_env.cpp - QA for OpenRAVE Environment class
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*
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* Created: Thu Sep 16 14:50:34 2010
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* Copyright 2010 Bahram Maleki-Fard, AllemaniACs RoboCup Team
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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// Do not include in api reference
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///@cond QA
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//#include <openrave-core.h>
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#include <logging/console.h>
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#include <plugins/openrave/environment.h>
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#include <cstdio>
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#include <iostream>
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#include <vector>
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using namespace
fawkes
;
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using namespace
std;
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void
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printVector(std::vector<float> &v)
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{
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printf(
"## size:%zu \n"
, v.size());
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for
(
unsigned
int
i = 0; i < v.size(); i++) {
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printf(
"## %u:)%f \n"
, i, v[i]);
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}
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}
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int
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main(
int
argc,
char
**argv)
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{
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printf(
"++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
);
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ConsoleLogger
*cl =
new
ConsoleLogger
();
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//OpenRAVE::RaveInitialize(true); //optional..should be done automatically if not explicitly implemented
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OpenRaveEnvironment
*env;
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env =
new
OpenRaveEnvironment
(cl);
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env->
create
();
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env->
enable_debug
();
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string
robotFile = SRCDIR
"/../manipulators/katana.robot.xml"
;
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env->
add_robot
(robotFile);
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env->lock();
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env->
start_viewer
();
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usleep(1000 * 10000);
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env->
destroy
();
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return
0;
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}
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/// @endcond
fawkes::OpenRaveEnvironment::start_viewer
virtual void start_viewer()
Starts the qt viewer in a separate thread.
Definition:
environment.cpp:270
fawkes::ConsoleLogger
Definition:
console.h:42
fawkes::OpenRaveEnvironment
OpenRaveEnvironment class.
Definition:
environment.h:43
fawkes::OpenRaveEnvironment::enable_debug
virtual void enable_debug(OpenRAVE::DebugLevel level=OpenRAVE::Level_Debug)
Enable debugging messages of OpenRAVE.
Definition:
environment.cpp:188
fawkes::OpenRaveEnvironment::create
virtual void create()
Create and lock the environment.
Definition:
environment.cpp:111
fawkes
fawkes::OpenRaveEnvironment::add_robot
virtual void add_robot(const std::string &filename)
Add a robot into the scene.
Definition:
environment.cpp:226
fawkes::OpenRaveEnvironment::destroy
virtual void destroy()
Destroy the environment.
Definition:
environment.cpp:138
src
plugins
openrave
qa
qa_env.cpp
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