int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
ros::init(argc, argv, "ImageSensorROSBridgeComp", ros::init_options::NoSigintHandler);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager();
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
return 0;
}
int main (int argc, char** argv)
{
if(!mclInitializeApplication(NULL,0))
{
std::cerr << "アプリケーションを初期化できません" << std::endl;
mclGetLastErrorMessage();
return -1;
}
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager();
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
mclTerminateApplication();
return 0;
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
// manager->runManager();
// If you want to run the manager in non-blocking mode, do like this
manager->runManager(true);
system(SKYPEKIT_PATH);
return 0;
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager(true);
QApplication app( argc, argv );
MainWindow *mainWindow = new MainWindow();
mainWindow->resize( 600, 400 );
mainWindow->show();
return app.exec();
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
return 0;
}
int initializeOpenHRPModel (char* _filename)
{
int rtmargc=0;
char** argv=NULL;
//std::vector<char *> rtmargv;
//rtmargv.push_back(argv[0]);
rtmargc++;
RTC::Manager* manager;
//manager = RTC::Manager::init(rtmargc, rtmargv.data());
manager = RTC::Manager::init(rtmargc, argv);
std::string nameServer = manager->getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
std::string filename(_filename);
if (!loadBodyFromModelLoader(m_robot, filename.c_str(),
CosNaming::NamingContext::_duplicate(naming.getRootContext()),
true)){
std::cerr << print_prefix << " Failed to load model[" << filename << "]" << std::endl;
return 1;
} else {
std::cerr << print_prefix << " Success to load model[" << filename << "]" << std::endl;
}
return 0;
};
int main (int argc, char** argv)
{
RTC::Manager* manager;
setlocale(LC_ALL, "");
bindtextdomain(PACKAGE, LOCALEDIR);
textdomain(PACKAGE);
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager();
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
return 0;
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
manager->init(argc, argv);
manager->setModuleInitProc(MyModuleInit);
manager->activateManager();
manager->runManager();
return 0;
}
void Simulator::clear()
{
RTC::Manager* manager = &RTC::Manager::instance();
for (unsigned int i=0; i<numBodies(); i++){
BodyRTC *bodyrtc = dynamic_cast<BodyRTC *>(body(i).get());
bodyrtc->exit();
}
manager->cleanupComponents();
clearBodies();
constraintForceSolver.clearCollisionCheckLinkPairs();
setCurrentTime(0.0);
pairs.clear();
receivers.clear();
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
#ifdef _WINDOWS
std::string path = getParam("manager.modules.load_path");
coil::eraseBlank(path);
coil::vstring pathList = coil::split(path, ",");
for (int i = 0; i < pathList.size(); i++)
{
std::string filepath = pathList[i];
char szFullPath[MAX_PATH];
_fullpath(szFullPath, filepath.c_str(), sizeof(szFullPath) / sizeof(szFullPath[0]));
std::string path = "PATH=";
path += getenv("PATH");
path += ";";
path += szFullPath;
putenv(path.c_str());
}
#endif
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager();
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
return 0;
}
int main(int argc, char* argv[])
{
int ret = 0;
RTC::Manager* rtcManager;
try {
unsigned int i;
int rtc_argc = 1;
char** rtc_argv = (char **)malloc(sizeof(char *)*argc);
rtc_argv[0] = argv[0];
for (i=1; i<argc; i++){
if (strncmp(argv[i], "--", 2)!=0 ) {
rtc_argv[rtc_argc] = argv[i];
rtc_argc++;
}else {
i++;
}
}
rtcManager = RTC::Manager::init(rtc_argc, rtc_argv);
rtcManager->activateManager();
}
catch(...) {
cerr << "Cannot initialize OpenRTM" << endl;
exit(1);
}
BridgeConf* bridgeConf;
try {
bridgeConf = BridgeConf::initialize(argc, argv);
} catch (std::exception& ex) {
cerr << argv[0] << ": " << ex.what() << endl;
exit(1);
}
if(bridgeConf->isReady()){
if(setup(rtcManager, bridgeConf)){
cout << "ready" << endl;
rtcManager->runManager();
} else {
ret = 1;
}
}
return ret;
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
#if defined(__linux)
Gtk::Main kit(argc, argv);
DialogWin dialogwin;
Gtk::Main::run( dialogwin );
#elif defined(_WIN32)
//HINSTANCE hInst = GetModuleHandle( NULL );
HWND hwnd = GetWindow( NULL, GW_OWNER );
OpenDiaog(hwnd,"Wave Files(*.wav)\0*.wav\0All Files(*.*)\0*.*\0\0",
WaveFileName,OFN_PATHMUSTEXIST | OFN_FILEMUSTEXIST | OFN_HIDEREADONLY);
printf("Wave File Name:%s\n", WaveFileName);
#endif
setlocale(LC_ALL, "");
bindtextdomain(PACKAGE, LOCALEDIR);
textdomain(PACKAGE);
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager();
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
return 0;
}
void PyLink::addShapeFromFile(std::string url)
{
RTC::Manager* manager = &RTC::Manager::instance();
std::string nameServer = manager->getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
OpenHRP::ModelLoader_var modelloader = hrp::getModelLoader(CosNaming::NamingContext::_duplicate(naming.getRootContext()));
OpenHRP::ModelLoader::ModelLoadOption opt;
opt.readImage = true;
opt.AABBdata.length(0);
opt.AABBtype = OpenHRP::ModelLoader::AABB_NUM;
OpenHRP::BodyInfo_var binfo = modelloader->getBodyInfoEx(url.c_str(), opt);
OpenHRP::LinkInfoSequence_var lis = binfo->links();
loadShapeFromLinkInfo(this, lis[0], binfo, createPyShape);
}
NameServerInfo RTCCommonUtil::getManagerAddress()
{
NameServerInfo result;
RTC::Manager* rtcManager = &RTC::Manager::instance();
if (!rtcManager) return result;
coil::Properties prop = rtcManager->getConfig();
std::string val = prop.getProperty("corba.nameservers");
DDEBUG_V("RTCCommonUtil::getManagerAddress: %s", val.c_str());
vector<string> elems = RTCCommonUtil::split(val, ':');
if (elems.size() == 0) return result;
result.hostAddress = elems[0];
result.portNo = 2809;
if (1 < elems.size()) {
result.portNo = QString::fromStdString(elems[1]).toInt();
}
result.isRtmDefaultNameServer = true;
return result;
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
manager->runManager(true);
while(!pView);
cv::namedWindow("Image Window", CV_WINDOW_AUTOSIZE);
while(pView->isAlive()) {
//std::cout << "Show Image" << std::endl;
if (pView->imageQueue.size() > 0) {
cv::Mat image = pView->imageQueue.front();
pView->imageQueue.pop();
imshow("Image Window", image);
int c = cvWaitKey(1);
}
}
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
cv::destroyWindow("Image Window");
return 0;
}
int main (int argc, char** argv)
{
RTC::Manager* manager;
manager = RTC::Manager::init(argc, argv);
// Initialize manager
manager->init(argc, argv);
// Set module initialization proceduer
// This procedure will be invoked in activateManager() function.
manager->setModuleInitProc(MyModuleInit);
// Activate manager and register to naming service
manager->activateManager();
// run the manager in blocking mode
// runManager(false) is the default.
#ifdef WIN32
manager->runManager(false);
#elif __APPLE__
manager->runManager(true);
while(!pCap);
bool active_flag = false;
while(pCap->isAlive()) {
bool flag = pCap->isActive();
if (!active_flag && flag) { // Rising Edge
pCap->onInitCalib(0);
}
if (flag) {
pCap->onProcess(0);
}
if (active_flag && !flag) { // Falling Edge
pCap->onFiniCalib(0);
}
active_flag = flag;
}
#else // Linux
manager->runManager(false);
#endif
// If you want to run the manager in non-blocking mode, do like this
// manager->runManager(true);
return 0;
}
int main(int argc, char* argv[])
{
bool display = true, realtime=false, usebbox=false, endless=false;
bool showsensors = false;
int wsize = 0;
bool exitOnFinish = false;
bool record = false;
if (argc < 0){
std::cerr << "Usage:" << argv[0] << " [project file] [options]"
<< std::endl;
return 1;
}
Project prj;
if (!prj.parse(argv[1])){
std::cerr << "failed to parse " << argv[1] << std::endl;
return 1;
}
for (int i=2; i<argc; i++){
if (strcmp("-nodisplay",argv[i])==0){
display = false;
}else if(strcmp("-realtime", argv[i])==0){
realtime = true;
}else if(strcmp("-usebbox", argv[i])==0){
usebbox = true;
}else if(strcmp("-endless", argv[i])==0){
endless = true;
}else if(strcmp("-showsensors", argv[i])==0){
showsensors = true;
}else if(strcmp("-size", argv[i])==0){
wsize = atoi(argv[++i]);
}else if(strcmp("-exit-on-finish", argv[i])==0){
exitOnFinish = true;
}else if(strcmp("-record", argv[i])==0){
record = true;
exitOnFinish = true;
}
}
//================= OpenRTM =========================
RTC::Manager* manager;
int rtmargc=0;
std::vector<char *> rtmargv;
for (int i=1; i<argc; i++){
if (strcmp(argv[i], "-nodisplay")
&& strcmp(argv[i], "-realtime")
&& strcmp(argv[i], "-usebbox")
&& strcmp(argv[i], "-endless")
&& strcmp(argv[i], "-showsensors")
&& strcmp(argv[i], "-size")
&& strcmp(argv[i], "-exit-on-finish")
&& strcmp(argv[i], "-record")
){
rtmargv.push_back(argv[i]);
rtmargc++;
}
}
manager = RTC::Manager::init(rtmargc, rtmargv.data());
manager->init(rtmargc, rtmargv.data());
GLbodyRTC::moduleInit(manager);
manager->activateManager();
manager->runManager(true);
std::string nameServer = manager->getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
ModelLoader_var modelloader = getModelLoader(CosNaming::NamingContext::_duplicate(naming.getRootContext()));
//==================== Viewer setup ===============
LogManager<SceneState> log;
GLscene scene(&log);
scene.showSensors(showsensors);
Simulator simulator(&log);
SDLwindow window(&scene, &log, &simulator);
if (display) window.init(wsize, wsize);
//================= setup Simulator ======================
BodyFactory factory = boost::bind(createBody, _1, _2, modelloader, &scene, usebbox);
simulator.init(prj, factory);
simulator.realTime(realtime);
if (endless){
simulator.setTotalTime(0);
log.enableRingBuffer(50000);
}
std::cout << "timestep = " << prj.timeStep() << ", total time = "
<< prj.totalTime() << std::endl;
if (display){
simulator.start();
while(window.oneStep()){
if (exitOnFinish && !simulator.isRunning()) break;
};
simulator.stop();
if (record){
log.record();
while(window.oneStep()){
if (!log.isRecording()) break;
}
}
}else{
while (simulator.oneStep());
}
manager->shutdown();
return 0;
}
int main(int argc, char* argv[])
{
bool display = true, usebbox=false;
bool showsensors = false;
int wsize = 0;
bool useDefaultLights = true;
double maxEdgeLen = 0;
bool exitOnFinish = false;
bool record = false;
double maxLogLen = 60;
bool realtime = false;
bool endless = false;
if (argc <= 1){
print_usage(argv[0]);
return 1;
}
float bgColor[]={0,0,0};
for (int i=1; i<argc; i++){
if (strcmp("-nodisplay",argv[i])==0){
display = false;
}else if(strcmp("-realtime", argv[i])==0){
realtime = true;
}else if(strcmp("-usebbox", argv[i])==0){
usebbox = true;
}else if(strcmp("-endless", argv[i])==0){
endless = true;
}else if(strcmp("-showsensors", argv[i])==0){
showsensors = true;
}else if(strcmp("-size", argv[i])==0){
wsize = atoi(argv[++i]);
}else if(strcmp("-no-default-lights", argv[i])==0){
useDefaultLights = false;
}else if(strcmp("-max-edge-length", argv[i])==0){
maxEdgeLen = atof(argv[++i]);
}else if(strcmp("-max-log-length", argv[i])==0){
maxLogLen = atof(argv[++i]);
}else if(strcmp("-exit-on-finish", argv[i])==0){
exitOnFinish = true;
}else if(strcmp("-record", argv[i])==0){
record = true;
exitOnFinish = true;
}else if(strcmp("-bg", argv[i])==0){
bgColor[0] = atof(argv[++i]);
bgColor[1] = atof(argv[++i]);
bgColor[2] = atof(argv[++i]);
}else if(strcmp("-h", argv[i])==0 || strcmp("--help", argv[i])==0){
print_usage(argv[0]);
return 1;
}
}
Project prj;
if (!prj.parse(argv[1])){
std::cerr << "failed to parse " << argv[1] << std::endl;
return 1;
}
if (realtime){
prj.realTime(true);
}
if (endless){
prj.totalTime(0);
}
//================= OpenRTM =========================
RTC::Manager* manager;
int rtmargc=0;
std::vector<char *> rtmargv;
for (int i=1; i<argc; i++){
if (strcmp(argv[i], "-nodisplay")
&& strcmp(argv[i], "-realtime")
&& strcmp(argv[i], "-usebbox")
&& strcmp(argv[i], "-endless")
&& strcmp(argv[i], "-showsensors")
&& strcmp(argv[i], "-size")
&& strcmp(argv[i], "-no-default-lights")
&& strcmp(argv[i], "-max-edge-length")
&& strcmp(argv[i], "-max-log-length")
&& strcmp(argv[i], "-exit-on-finish")
&& strcmp(argv[i], "-record")
&& strcmp(argv[i], "-bg")
){
rtmargv.push_back(argv[i]);
rtmargc++;
}
}
manager = RTC::Manager::init(rtmargc, rtmargv.data());
manager->init(rtmargc, rtmargv.data());
GLbodyRTC::moduleInit(manager);
manager->activateManager();
manager->runManager(true);
std::string nameServer = manager->getConfig()["corba.nameservers"];
int comPos = nameServer.find(",");
if (comPos < 0){
comPos = nameServer.length();
}
nameServer = nameServer.substr(0, comPos);
RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
ModelLoader_var modelloader = getModelLoader(CosNaming::NamingContext::_duplicate(naming.getRootContext()));
if (CORBA::is_nil(modelloader)){
std::cerr << "openhrp-model-loader is not running" << std::endl;
return 1;
}
//==================== Viewer setup ===============
LogManager<SceneState> log;
GLscene scene(&log);
scene.setBackGroundColor(bgColor);
scene.showSensors(showsensors);
scene.maxEdgeLen(maxEdgeLen);
scene.showCollision(prj.view().showCollision);
Simulator simulator(&log);
SDLwindow window(&scene, &log, &simulator);
if (display){
window.init(wsize, wsize);
if (!useDefaultLights) scene.defaultLights(false);
window.setView(prj.view().T);
scene.showFloorGrid(prj.view().showScale);
}
//================= setup Simulator ======================
BodyFactory factory = boost::bind(createBody, _1, _2, modelloader, &scene, usebbox);
simulator.init(prj, factory);
if (!prj.totalTime()){
log.enableRingBuffer(maxLogLen/prj.timeStep());
}
std::cout << "timestep = " << prj.timeStep() << ", total time = "
<< prj.totalTime() << std::endl;
if (display){
simulator.start();
while(window.oneStep()){
if (exitOnFinish && !simulator.isRunning()) break;
};
simulator.stop();
if (record){
log.record(10);
while(window.oneStep()){
if (!log.isRecording()) break;
}
}
}else{
while (simulator.oneStep());
}
manager->shutdown();
return 0;
}
