コード例 #1
0
RTC::ReturnCode_t PA10PickupControllerRTC::onInitialize()
{
    // Set InPort buffers
    addInPort("q", m_angleIn);
    addInPort("u_in", m_torqueIn);
  
    // Set OutPort buffer
    addOutPort("u_out", m_torqueOut);

    string modelfile = getNativePathString(
        boost::filesystem::path(shareDirectory()) / "model/PA10/PA10.wrl");
            
    BodyLoader loader;
    loader.setMessageSink(cout);
    loader.setShapeLoadingEnabled(false);
    body = loader.load(modelfile);
            
    if(!body){
        cout << modelfile << " cannot be loaded." << endl;
        return RTC::RTC_ERROR;
    }

    n = body->numJoints();
    leftHand_id  = body->link("HAND_L")->jointId();
    rightHand_id = body->link("HAND_R")->jointId();

    return RTC::RTC_OK;
}
コード例 #2
0
    SimpleControllerWrapper(const char* charname)
        : OpenHRPControllerBase(charname)
    {
        ready = false;

        controller = createSimpleController();
        
        if(controller){
            string modelfile = getNativePathString(
                boost::filesystem::path(shareDirectory()) / "model" / MODELFILE);
            
            BodyLoader loader;
            loader.setMessageSink(cout);
            loader.setShapeLoadingEnabled(false);
            ioBody = loader.load(modelfile);
            if(ioBody){
                ready = true;
            } else {
                cout << modelfile << " cannot be loaded." << endl;
            }
        }
    }