27 #include <plugins/openrave/environment.h>
28 #include <plugins/openrave/robot.h>
29 #include <plugins/openrave/manipulators/katana6M180.h>
30 #include <logging/console.h>
40 printVector(vector<float> &v)
44 for(
unsigned int i=0; i<v.size(); i++)
46 s <<
"(" << i <<
")" << v[i] <<
" ";
49 printf(
"%s \n", s.str().c_str());
53 main(
int argc,
char **argv)
55 printf(
"++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
57 string robotFile = SRCDIR
"/../manipulators/katana.robot.xml";
68 robot->
load(robotFile, env);
void set_angles_device(std::vector< T > &angles)
Set motor angles of real device.
virtual void update_manipulator()
Update motor values from OpenRAVE model.
virtual void start_viewer()
Starts the qt viewer in a separate thread.
virtual void lock()
Lock the environment to prevent changes.
Class containing information about all katana6M180 motors.
Interface for logging to stderr.
Fawkes library namespace.
virtual void create()
Create and lock the environment.
virtual void log_error(const char *component, const char *format,...)
Log error message.
void get_angles(std::vector< T > &to) const
Get motor angles of OpenRAVE model.
virtual const char * what() const
Get primary string.
Base class for exceptions in Fawkes.
OpenRaveEnvironment class.
virtual void load(const std::string &filename, fawkes::OpenRaveEnvironment *env)
Load robot from xml file.
Class containing information about all manipulator motors.
void get_angles_device(std::vector< T > &to) const
Get motor angles of real device.
virtual void add_robot(const std::string &filename)
Add a robot into the scene.
virtual void destroy()
Destroy the environment.
virtual void set_ready()
Set robot ready for usage.
virtual void set_manipulator(fawkes::OpenRaveManipulator *manip, bool display_movements=false)
Set pointer to OpenRaveManipulator object.
virtual void add_motor(unsigned int number, unsigned int number_device)
Adds a motor to the list(vector) of motors.