int main(int argc, char **argv)
{
ros::init (argc, argv, "moveit_simple_action");
ros::AsyncSpinner spinner(1);
spinner.start();
// Check for verbose flag
bool verbose = false;
/*if (argc > 1)
{
for (std::size_t i = 0; i < argc; ++i)
{
if (strcmp(argv[i], "--verbose") == 0)
{
ROS_INFO_STREAM_NAMED("main","Running in VERBOSE mode (slower)");
verbose = true;
}
}
}*/
//verbose = true;
std::string robot_name("romeo");
double test_step(0.0);
double x_min(0.0);
double x_max(0.0);
double y_min(0.0);
double y_max(0.0);
double z_min(0.0);
double z_max(0.0);
std::string left_arm_name("left");
std::string right_arm_name("right");
parse_command_line(argc, argv, robot_name, test_step,
x_min, x_max, y_min, y_max, z_min, z_max,
left_arm_name, right_arm_name,
verbose);
srand (time(NULL));
// Start the pick place node
moveit_simple_actions::SimplePickPlace server_pickplace(robot_name, test_step,
x_min, x_max, y_min, y_max, z_min, z_max,
left_arm_name, right_arm_name,
verbose);
ROS_INFO_STREAM_NAMED("main", "Shutting down.");
ros::shutdown();
return 0;
}
int main(int argc, char *argv[])
{
int i;
char buffer[1000];
struct mtwist_state *mt;
set_random_seed(&mt);
for (i = 0; i < 1000; i++) {
/* infinite_taunt(buffer, sizeof(buffer) - 1); */
/* planet_description(mt, buffer, sizeof(buffer) - 1, 60); */
/* cop_attack_warning(mt, buffer, sizeof(buffer) - 1, 50); */
/* character_name(mt, buffer, sizeof(buffer) - 1); */
robot_name(mt, buffer, sizeof(buffer) - 1);
printf("%s\n", buffer);
}
free(mt);
return 0;
}
int main(int argc, char *argv[])
{
int i, c, rc;
char buffer[1000];
struct mtwist_state *mt;
enum planet_type pt;
int count = 1;
int npc_mode = 0;
int planet_mode = 0;
int robot_mode = 0;
int ship_mode = 0;
int taunt_mode = 0;
int warning_mode = 0;
set_random_seed(&mt);
while (1) {
int option_index;
c = getopt_long(argc, argv, "c:nprstw", long_options, &option_index);
if (c < 0) {
break;
}
switch (c) {
case 'c':
rc = sscanf(optarg, "%d", &count);
if (rc != 1)
count = 0;
break;
case 'n':
npc_mode = 1;
break;
case 'p':
planet_mode = 1;
break;
case 'r':
robot_mode = 1;
break;
case 's':
ship_mode = 1;
break;
case 't':
taunt_mode = 1;
break;
case 'w':
warning_mode = 1;
break;
default:
fprintf(stderr, "%s: Unknown option.\n", argv[0]);
usage(argv[0]);
}
}
if (taunt_mode + planet_mode + warning_mode + npc_mode + robot_mode + ship_mode == 0)
usage(argv[0]);
for (i = 0; i < count; i++) {
if (taunt_mode) {
infinite_taunt(mt, buffer, sizeof(buffer) - 1);
printf("%s\n", buffer);
}
if (planet_mode) {
pt = PlanetType(mt);
planet_description(mt, buffer, sizeof(buffer) - 1, 60, pt);
printf("%s\n", buffer);
}
if (warning_mode) {
cop_attack_warning(mt, buffer, sizeof(buffer) - 1, 50);
printf("%s\n", buffer);
}
if (npc_mode) {
character_name(mt, buffer, sizeof(buffer) - 1);
printf("%s\n", buffer);
}
if (robot_mode) {
robot_name(mt, buffer, sizeof(buffer) - 1);
printf("%s\n", buffer);
}
if (ship_mode) {
ship_name(mt, buffer, sizeof(buffer) - 1);
printf("%s\n", buffer);
}
}
free(mt);
return 0;
}
