static void TearDownTestCase() { RAVELOG_DEBUG("TearDownTestCase\n"); viewer.reset(); env.reset(); RaveDestroy(); }
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(); }
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); } }