void SetViewer(EnvironmentBasePtr penv, const string& viewername)
{
ViewerBasePtr viewer = RaveCreateViewer(penv,viewername);
BOOST_ASSERT(!!viewer);
// attach it to the environment:
penv->AddViewer(viewer);
// finally call the viewer's infinite loop (this is why a separate thread is needed)
bool showgui = true;
viewer->main(showgui);
}
static void SetUpTestCase() {
RAVELOG_DEBUG("SetupTestCase\n");
RaveInitialize(false, verbose ? Level_Debug : Level_Info);
env = RaveCreateEnvironment();
env->StopSimulation();
env->Load("robots/pr2-beta-static.zae") ;
env->Load(string(DATA_DIR) + "/table.xml");
if (plotting) {
viewer.reset(new OSGViewer(env));
viewer->UpdateSceneData();
env->AddViewer(viewer);
}
}
int main() {
RaveInitialize(false, OpenRAVE::Level_Debug);
env = RaveCreateEnvironment();
env->StopSimulation();
// bool success = env->Load("data/pr2test2.env.xml");
{
bool success = env->Load("/home/joschu/Proj/drc/gfe.xml");
FAIL_IF_FALSE(success);
}
{
bool success = env->Load("/home/joschu/Proj/trajopt/data/test2.env.xml");
FAIL_IF_FALSE(success);
}
vector<RobotBasePtr> robots;
env->GetRobots(robots);
RobotBasePtr robot = robots[0];
vector<RobotBase::ManipulatorPtr> manips = robot->GetManipulators();
cc = CollisionChecker::GetOrCreate(*env);
viewer.reset(new OSGViewer(env));
env->AddViewer(viewer);
ManipulatorControl mc(manips[manips.size()-1], viewer);
DriveControl dc(robot, viewer);
StatePrinter sp(robot);
viewer->AddKeyCallback('a', boost::bind(&StatePrinter::PrintAll, &sp));
viewer->AddKeyCallback('q', &PlotCollisionGeometry);
viewer->AddKeyCallback('=', boost::bind(&AdjustTransparency, .05));
viewer->AddKeyCallback('-', boost::bind(&AdjustTransparency, -.05));
viewer->Idle();
env.reset();
viewer.reset();
RaveDestroy();
}
void SetViewer(EnvironmentBasePtr penv, const string& viewername)
{
ViewerBasePtr viewer = RaveCreateViewer(penv,viewername);
penv->AddViewer(viewer);
viewer->main(true);
}
