void stage_plot_callback(boost::shared_ptr<PointRobotBSPPlanner> planner, OSGViewerPtr viewer, OptProb* prob, DblVec& x) {
vector<GraphHandlePtr> handles;
handles.clear();
OpenRAVEPlotterMixin<PointRobotBSPPlanner>::plot_opt_trajectory(planner, planner->rad, viewer, prob, x, &handles);
vector<double> color_params;
for (int i = 0; i <= planner->T; ++i) {
color_params.push_back(((double)i)/((double)planner->T-1.0));
}
StateT state;
VarianceT sigma;
Vector3d mean;
Matrix3d cov;
for (int i = 0; i <= planner->T; ++i) {
BeliefT b = getVec(x, planner->helper->belief_vars.row(i));
planner->helper->belief_func->extract_state_and_sigma(b, &state, &sigma);
belief_to_endeffector_noise(planner->rad, planner->link, state, sigma, &mean, &cov);
handles.push_back(viewer->PlotEllipseXYContour(gaussian_as_transform(mean, cov), OR::Vector(0,color_params[i],1.0-color_params[i],1)));
}
BeliefT b = getVec(x, planner->helper->belief_vars.row(0));
for (int i = 0; i <= planner->T; ++i) {
planner->helper->belief_func->extract_state_and_sigma(b, &state, &sigma);
belief_to_endeffector_noise(planner->rad, planner->link, state, sigma, &mean, &cov);
handles.push_back(viewer->PlotEllipseXYContour(gaussian_as_transform(mean, cov), OR::Vector(0,color_params[i],1.0-color_params[i],1), true));
if (i < planner->T) b = planner->helper->belief_func->call(b, getVec(x, planner->helper->control_vars.row(i)));
}
viewer->Idle();
}
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();
}
