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; }