27 #include <openrave/connector.h>
28 #include <openrave/manipulators/katana6M180.h>
29 #include <utils/logging/console.h>
39 printVector(vector<float> v)
41 printf(
"## size:%zu \n", v.size());
42 for (
unsigned int i = 0; i < v.size(); i++) {
43 printf(
"## %u:)%f \n", i, v[i]);
48 main(
int argc,
char **argv)
50 printf(
"++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
53 string robotFile =
"../src/plugins/openrave/xml/caesar.robot.xml";
55 OpenRAVEConnector *con =
new OpenRAVEConnector(cl);
56 con->setup(robotFile);
59 OpenRAVEManipulatorKatana6M180 *manipKatana_ =
new OpenRAVEManipulatorKatana6M180(6, 5);
60 manipKatana_->addMotor(0, 0);
61 manipKatana_->addMotor(1, 1);
62 manipKatana_->addMotor(2, 2);
63 manipKatana_->addMotor(4, 3);
64 manipKatana_->addMotor(5, 4);
66 con->setManipulator(manipKatana_);