int main(int argc, char *argv[])
{
(void)argc; (void)argv;
// Enable collision checking
aa_rx_cl_init();
// Initialize scene graph
struct aa_rx_sg *scenegraph = aa_rx_dl_sg__scenegraph(NULL);
aa_rx_sg_init(scenegraph);
aa_rx_sg_cl_init(scenegraph);
// setup window
struct aa_rx_win * win = baxter_demo_setup_window(scenegraph);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, 0);
aa_gl_globals_set_show_collision(globals, 1);
struct display_cx cx = {0};
cx.win = win;
cx.scenegraph = scenegraph;
cx.i_q = aa_rx_sg_config_id(scenegraph, "left_s0");
cx.cl = aa_rx_cl_create( scenegraph );
{
aa_rx_frame_id n = aa_rx_sg_frame_count(scenegraph);
aa_rx_frame_id m = aa_rx_sg_config_count(scenegraph);
double q[m];
AA_MEM_ZERO(q,m);
double TF_rel[7*n];
double TF_abs[7*n];
aa_rx_sg_tf(scenegraph, m, q,
n,
TF_rel, 7,
TF_abs, 7 );
struct aa_rx_cl_set *allowed = aa_rx_cl_set_create( scenegraph );
int col = aa_rx_cl_check( cx.cl, n, TF_abs, 7, allowed );
aa_rx_cl_allow_set( cx.cl, allowed );
aa_rx_cl_set_destroy( allowed );
}
aa_rx_win_set_display( win, display, &cx );
aa_rx_win_display_loop(win);
// Cleanup
aa_rx_cl_destroy( cx.cl );
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int display( struct aa_rx_win *win, void *cx_, struct aa_sdl_display_params *params )
{
(void)win;
struct display_cx *cx = (struct display_cx *)cx_;
const struct timespec *now = aa_sdl_display_params_get_time_now(params);
const struct timespec *last = aa_sdl_display_params_get_time_last(params);
const struct aa_rx_sg *scenegraph = cx->scenegraph;
size_t n = aa_rx_sg_frame_count(scenegraph);
size_t m = aa_rx_sg_config_count(scenegraph);
double q[m];
AA_MEM_ZERO(q,m);
int first = aa_sdl_display_params_is_first(params);
if( ! first ) {
double dt = aa_tm_timespec2sec( aa_tm_sub(*now, *last) );
cx->q += dt * 45 * (M_PI/180);
}
q[ cx->i_q ] = cx->q;
double TF_rel[7*n];
double TF_abs[7*n];
aa_rx_sg_tf(scenegraph, m, q,
n,
TF_rel, 7,
TF_abs, 7 );
aa_rx_win_display_sg_tf( cx->win, params, scenegraph,
n, TF_abs, 7 );
int col = aa_rx_cl_check( cx->cl, n, TF_abs, 7, NULL );
printf("in collision: %s\n",
col ? "yes" : "no" );
return 0;
}
int display( void *globals_, struct aa_sdl_display_params *param )
{
int updated = aa_sdl_display_params_get_update(param);
if( !updated ) return 0;
const struct aa_gl_globals *globals = (const struct aa_gl_globals *) globals_;
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
check_error("glClearColor");
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
check_error("glClear");
size_t n = aa_rx_sg_frame_count(scenegraph);
double TF_rel[7*n];
double TF_abs[7*n];
aa_rx_sg_tf(scenegraph, 0, NULL,
2,
TF_rel, 7,
TF_abs, 7 );
aa_rx_sg_render( scenegraph, globals,
(size_t)n, TF_abs, 7 );
return updated;
}
int main(int argc, char *argv[])
{
const char *name="scenegraph";
const char *plugin=NULL;
const char *end_effector=NULL;
int visual = 1;
int collision = 0;
int print_config = 0;
int print_frame = 0;
/* Parse Options */
{
int c;
opterr = 0;
while( (c = getopt( argc, argv, "n:e:?cQF")) != -1 ) {
switch(c) {
case 'n':
name = optarg;
break;
case 'c':
visual = 0;
collision = 1;
break;
case 'e':
end_effector = optarg;
break;
case 'Q':
print_config = 1;
break;
case 'F':
print_frame = 1;
break;
case '?':
puts("Usage: aarx-view [OPTIONS] PLUGIN_NAME\n"
"Viewer for Amino scene graphs"
"\n"
"Options:\n"
" -n NAME scene graph name (default: scenegraph)\n"
" -e NAME name of an end-effector to control\n"
" -Q Print configuration names and exit\n"
" -F Print frame names and exit\n"
" -c view collision geometry\n"
"\n"
"\n"
"Report bugs to " PACKAGE_BUGREPORT "\n" );
exit(EXIT_SUCCESS);
break;
default:
plugin=optarg;
}
}
while( optind < argc ) {
plugin = argv[optind++];
}
}
if( NULL == plugin ) {
fprintf(stderr,
"ERROR: scene graph plugin not specified. "
"See `aarx-view -?` for options\n");
exit(EXIT_FAILURE);
}
/* Initialize scene graph */
struct aa_rx_sg *scenegraph = aa_rx_dl_sg(plugin, name, NULL);
assert(scenegraph);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
/* print things */
if( print_config || print_frame ) {
if( print_config ) {
for( aa_rx_config_id i = 0; i < aa_rx_sg_config_count(scenegraph); i ++ ) {
printf("config[%d]: %s\n", i, aa_rx_sg_config_name(scenegraph, i));
}
}
if( print_frame ) {
for( aa_rx_frame_id i = 0; i < aa_rx_sg_frame_count(scenegraph); i ++ ) {
printf("frame[%d]: %s\n", i, aa_rx_sg_frame_name(scenegraph, i));
}
}
exit(EXIT_SUCCESS);
}
/* Center configurations */
size_t m = aa_rx_sg_config_count(scenegraph);
double q[m];
for(size_t i = 0; i < m; i ++ ) {
double min=0,max=0;
aa_rx_sg_get_limit_pos(scenegraph,(aa_rx_config_id)i,&min,&max);
q[i] = (max + min)/2;
}
/* setup window */
struct aa_rx_win * win =
aa_rx_win_default_create ( "Amino: AARX-View", SCREEN_WIDTH, SCREEN_HEIGHT );
/* Set the scenegraph for the window */
struct aa_rx_sg_sub *sub = NULL;
if( end_effector ) {
aa_rx_frame_id id = aa_rx_sg_frame_id(scenegraph, end_effector);
if( AA_RX_FRAME_NONE == id ) {
fprintf(stderr, "Could not find frame `%s'\n", end_effector);
exit(EXIT_FAILURE);
}
sub = aa_rx_sg_chain_create( scenegraph, AA_RX_FRAME_ROOT, id);
aa_rx_win_set_sg_sub(win, sub);
} else {
aa_rx_win_set_sg(win, scenegraph);
}
aa_rx_win_set_config(win, m, q);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, visual);
aa_gl_globals_set_show_collision(globals, collision);
/* start display */
aa_rx_win_run();
/* Cleanup */
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}