27#include <logging/console.h>
28#include <openrave/openrave.h>
29#include <plugins/openrave/environment.h>
30#include <plugins/openrave/robot.h>
42printVector(vector<float> &v)
46 for (
unsigned int i = 0; i < v.size(); i++) {
47 s <<
"(" << i <<
")" << v[i] <<
" ";
50 printf(
"%s \n", s.str().c_str());
54main(
int argc,
char **argv)
56 printf(
"++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
58 string robotFile = SRCDIR
"/../manipulators/katana.robot.xml";
65 vector<OpenRAVE::RobotBasePtr> robots;
66 list<OpenRAVE::ModuleBasePtr> modules;
70 env->get_env_ptr()->GetModules(modules);
71 env->get_env_ptr()->GetRobots(robots);
72 cl->
log_debug(
"qa_modules",
"Environment created");
73 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
76 robot->load(robotFile, env);
82 env->get_env_ptr()->GetModules(modules);
83 env->get_env_ptr()->GetRobots(robots);
84 cl->
log_debug(
"qa_modules",
"Robot loaded");
85 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
87 env->add_robot(robot);
90 env->get_env_ptr()->GetModules(modules);
91 env->get_env_ptr()->GetRobots(robots);
92 cl->
log_debug(
"qa_modules",
"Robot initialized");
93 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
97 env->get_env_ptr()->GetModules(modules);
98 env->get_env_ptr()->GetRobots(robots);
99 cl->
log_debug(
"qa_modules",
"Robot Destroyed");
100 cl->
log_debug(
"qa_modules",
"#modules:%u #robots:%u", modules.size(), robots.size());
Interface for logging to stderr.
virtual void log_error(const char *component, const char *format,...)
Log error message.
virtual void log_debug(const char *component, const char *format,...)
Log debug message.
Base class for exceptions in Fawkes.
virtual const char * what() const noexcept
Get primary string.
OpenRaveEnvironment class.
RefPtr<> is a reference-counting shared smartpointer.
Fawkes library namespace.