int main(int argc, char* argv[]) { RobotSimulator * simulator = new RobotSimulator(); simulator->simStart(); Joint * joint = new Joint(simulator,(char*)"joint7",45*RAD,-90*RAD); if (simulator->clientIdStatus()) { simulator->simStartSimulation(simx_opmode_oneshot_wait); while (simulator->simGetConnectionId() != -1) { double position; cout << "Ingrese un valor para el angulo del motor #1 en grados ó -1 para terminar:" << endl; cin >> position; if(position == 999) break; else { clog << "joint_pos: " << joint->getJointCurrentPosition((char *)"RAD") << endl; double * pos; double * ori; pos = joint->getPosition(-1); ori = joint->getOrientation(-1); clog << "pos: " << pos[0] << " - " << pos[1] << " - " << pos[2] << endl; clog << "ori: " << ori[0] << " - " << ori[1] << " - " << ori[2] << endl; clog << "moving to position: " << position << endl; joint->setJointPosition(position,(char *)"DEG"); } sleep(2); } simulator->simStopSimulation(simx_opmode_oneshot_wait); }