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); }
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; }