int
main (int argc, char *argv[])
{
Network yarp;
if (!yarp.checkNetwork ())
return -1;
YARP_REGISTER_DEVICES(icubmod)
ResourceFinder rf;
rf.setVerbose (true);
rf.setDefaultContext ("actionPrimitivesExample/conf");
rf.setDefaultConfigFile ("config.ini");
rf.setDefault ("part", "left_arm");
rf.setDefault ("grasp_model_type", "tactile");
rf.setDefault ("grasp_model_file", "grasp_model.ini");
rf.setDefault ("hand_sequences_file", "hand_sequences.ini");
rf.setDefault ("name", "actionPrimitivesMod");
rf.setDefault ("sim", "off");
rf.configure ("ICUB_ROOT", argc, argv);
BehaviorModule mod;
return mod.runModule (rf);
}
int main(int argc, char** argv) {
//yarp::os::Thread::setDefaultStackSize(3145728);
yarp::os::Network yarp;
if (!yarp.checkNetwork())
{
fprintf (stderr, "Error: could not initialize YARP network (is the nameserver running?)\n");
return 1;
}
YARP_REGISTER_DEVICES(icubmod)
yarp::os::Property options;
options.fromCommand(argc,argv);
// the "bundle" controls the implementation used for the simulation
// (as opposed to the simulation interface). The default is the
// standard ODE/SDL implementation. There is a "fake" do-nothing
// simulation for test purposes that does nothing other than create
// the standard ports (pass --fake to start this simulation).
SimulationBundle *bundle = NULL;
if (options.check("fake")) {
#ifdef ICUB_SIM_ENABLE_FAKE
bundle = new FakeSimulationBundle;
#endif
} else {
#ifdef ICUB_SIM_ENABLE_ODESDL
bundle = new OdeSdlSimulationBundle;
#endif
}
if (options.check("verbose"))
{
bundle->verbose = true;
fprintf(stdout, "Starting the simulator with verbose flag on\n");
}
if (bundle==NULL) {
fprintf(stderr,"Failed to allocate simulator\n");
return 1;
}
//SimulationRun main;
//if (!main.run(bundle,argc,argv)) return 1;
MainThread thread;
thread.bundle = bundle;
thread.argc = argc;
thread.argv = argv;
#ifdef _WIN32
//thread.setOptions(3145728);
#endif
thread.start();
thread.join();
return thread.result?0:1;
return 0;
}
int main(int argc, char * argv[])
{
YARP_REGISTER_DEVICES(icubmod)
Network yarp;
stereoCalibModule stereoModule;
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("icubEyes.ini");
rf.setDefaultContext("cameraCalibration");
rf.configure(argc, argv);
stereoModule.runModule(rf);
return 1;
}
int main(int argc, char *argv[])
{
Network yarp;
if (!yarp.checkNetwork())
return -1;
YARP_REGISTER_DEVICES(icubmod)
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("sceneFlowModule");
rf.configure(argc,argv);
sceneFlowModule mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
yarp::os::Network yarp;
if (!yarp.checkNetwork())
return -1;
YARP_REGISTER_DEVICES(icubmod)
yarp::os::ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("power-grasp");
rf.setDefaultConfigFile("config.ini");
rf.configure(argc,argv);
PowerGrasp mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
YARP_REGISTER_DEVICES(icubmod)
Network::init();
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("controlBoardDumper");
rf.setDefaultConfigFile("controlBoardDumper.ini");
rf.setDefault("part", "head");
rf.setDefault("robot", "icub");
rf.configure(argc, argv);
Property p;
DumpModule mod;
p.fromString(rf.toString());
if (!p.check("rate"))
p.put("rate", 500);
if (!p.check("joints"))
{
Value v;
v.fromString("(0 1)");
p.put("joints", v);
}
if (!p.check("dataToDump"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPidReferences)");
p.put("dataToDump", v);
}
fprintf(stderr, "Current configuration is: %s\n", p.toString().c_str());
if (mod.open(p))
return mod.runModule();
else
return 0;
Network::fini();
}
bool Recognition::configure(yarp::os::ResourceFinder &rf) {
bool bEveryThingisGood = true;
//init the network
Network::init();
YARP_REGISTER_DEVICES(icubmod);
//bEveryThingisGood = initRobotHead(rf);
bEveryThingisGood = initGaze(rf);
bEveryThingisGood = initPorts(rf);
bEveryThingisGood = initBlobExtractor(rf);
pastImg = currentImg = NULL;
cameraT = NULL;
return bEveryThingisGood ;
}
int main(int argc, char *argv[])
{
YARP_REGISTER_DEVICES(icubmod)
Network::init();
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("controlBoardDumper");
rf.setDefaultConfigFile("controlBoardDumper.ini");
rf.setDefault("part", "head");
rf.setDefault("robot", "icub");
rf.configure(argc, argv);
Property p;
DumpModule mod;
p.fromString(rf.toString());
if (!p.check("rate"))
{
p.put("rate", 500);
}
if (!p.check("joints"))
{
Value v;
v.fromString("(0)");
p.put("joints", v);
}
if (!p.check("dataToDump"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPidReferences)");
p.put("dataToDump", v);
}
if (p.check("dataToDumpAll"))
{
Value v;
v.fromString("(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors getPidReferences getRotorPositions getRotorSpeeds getRotorAccelerations)");
p.put("dataToDump", v);
}
if (p.check("help"))
{
printf ("controlBoardDumper usage:\n");
printf ("1) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" --dataToDump \"(xxx)\"\n");
printf (" where xxx can be one of the following:\n");
printf (" getEncoders (joint position)\n");
printf (" getEncoderSpeeds (joint velocity)\n");
printf (" getEncoderAccelerations (joint acceleration)\n");
printf (" getPositionErrors (difference between desired and actual position)\n");
printf (" getTorqueErrors (difference between desired and measured torque, if available)\n");
printf (" getOutputs (voltage (PWM) given to the motor)\n");
printf (" getCurrents (current given to the motor)\n");
printf (" getTorques (joint torques, if available)\n");
printf (" getRotorPositions (hi-res rotor position, if available)\n");
printf (" getRotorSpeeds (hi-res rotor velocity, if available)\n");
printf (" getRotorAccelerations (hi-res rotor acceleration, if available)\n");
printf ("\n2) controlBoardDumper --robot icub --part left_arm --rate 10 --joints \"(0 1 2)\" --dataToDumpAll\n");
return 0;
}
fprintf(stderr, "Current configuration is: %s\n", p.toString().c_str());
if (mod.open(p))
return mod.runModule();
else
return 0;
Network::fini();
}
