Fawkes API  Fawkes Development Version
qa_robot.cpp
1 
2 /***************************************************************************
3  * qa_robot.cpp - QA for OpenRAVE Environment class
4  *
5  * Created: Thu Sep 16 14:50:34 2010
6  * Copyright 2010 Bahram Maleki-Fard, AllemaniACs RoboCup Team
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 // Do not include in api reference
25 ///@cond QA
26 
27 #include <logging/console.h>
28 #include <plugins/openrave/environment.h>
29 #include <plugins/openrave/manipulators/katana6M180.h>
30 #include <plugins/openrave/robot.h>
31 #include <plugins/openrave/types.h>
32 
33 #include <cstdio>
34 #include <iostream>
35 #include <sstream>
36 #include <vector>
37 
38 using namespace fawkes;
39 using namespace std;
40 
41 void
42 printVector(vector<float> &v)
43 {
44  stringstream s;
45  //printf("## size:%u \n", v.size());
46  for (unsigned int i = 0; i < v.size(); i++) {
47  s << "(" << i << ")" << v[i] << " ";
48  //printf("## %u:)%f \n", i, v[i]);
49  }
50  printf("%s \n", s.str().c_str());
51 }
52 
53 int
54 main(int argc, char **argv)
55 {
56  printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
57 
58  string robotFile = SRCDIR "/../manipulators/katana.robot.xml";
59 
60  ConsoleLogger *cl = new ConsoleLogger();
61 
63  OpenRaveRobotPtr robot(new OpenRaveRobot(cl));
65 
66  env->create();
67 
68  try {
69  robot->load(robotFile, env);
70  } catch (Exception &e) {
71  cl->log_error("qa_robot", "error:%s", e.what());
72  return 0;
73  }
74 
75  // configure manip
76  manip->add_motor(0, 0);
77  manip->add_motor(1, 1);
78  manip->add_motor(2, 2);
79  manip->add_motor(4, 3);
80  manip->add_motor(5, 4);
81  robot->set_manipulator(manip);
82 
83  env->add_robot(robot);
84  robot->set_ready();
85  env->lock();
86 
87  vector<float> val, v;
88  val.push_back(0.1);
89  val.push_back(0.2);
90  val.push_back(0.3);
91  val.push_back(0.4);
92  val.push_back(0.5);
93 
94  manip->set_angles_device(val);
95  manip->get_angles(v);
96  printVector(v);
97  manip->get_angles_device(v);
98  printVector(v);
99 
100  env->start_viewer();
101 
102  //print angles taken from OpenRAVE Model (can be modified in GUI)
103  while (1) {
104  robot->update_manipulator();
105  manip->get_angles(v);
106  printVector(v);
107  manip->get_angles_device(v);
108  printVector(v);
109  usleep(1000 * 500);
110  }
111 
112  env->destroy();
113 
114  return 0;
115 }
116 
117 /// @endcond
Class containing information about all katana6M180 motors.
Definition: katana6M180.h:30
Interface for logging to stderr.
Definition: console.h:36
Fawkes library namespace.
virtual const char * what() const
Get primary string.
Definition: exception.cpp:639
virtual void log_error(const char *component, const char *format,...)
Log error message.
Definition: console.cpp:181
OpenRAVE Robot class.
Definition: robot.h:37
Base class for exceptions in Fawkes.
Definition: exception.h:35
OpenRaveEnvironment class.
Definition: environment.h:43