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();
}
DriveControl::DriveControl(OpenRAVE::RobotBasePtr robot, OSGViewerPtr viewer) :
m_robot(robot), m_viewer(viewer) {
viewer->AddKeyCallback(osgGA::GUIEventAdapter::KEY_Left, boost::bind(&DriveControl::MoveRobot, this, 0,.05, 0));
viewer->AddKeyCallback(osgGA::GUIEventAdapter::KEY_Right, boost::bind(&DriveControl::MoveRobot,this, 0,-.05, 0));
viewer->AddKeyCallback(osgGA::GUIEventAdapter::KEY_Up, boost::bind(&DriveControl::MoveRobot, this,.05,0, 0));
viewer->AddKeyCallback(osgGA::GUIEventAdapter::KEY_Down, boost::bind(&DriveControl::MoveRobot, this,-.05,0, 0));
viewer->AddKeyCallback(osgGA::GUIEventAdapter::KEY_Leftbracket, boost::bind(&DriveControl::MoveRobot, this,0,0, .05));
viewer->AddKeyCallback(osgGA::GUIEventAdapter::KEY_Rightbracket, boost::bind(&DriveControl::MoveRobot, this,0,0, -.05));
}
