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;
};
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[])
{
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;
}
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;
}