/**
* Putting it all together.
*
* @param argc
* @param argv
* @return
*/
int main(int argc, char* argv[]) {
// Default options.
icu::UnicodeString database = "dummy1";
bool loop = false;
bool echo = false;
int rate = 1000;
// Parse command line arguments.
for (int i = 0; i < argc; i++) {
if (0 == std::strcmp(argv[i], "-loop")) {
loop = true;
} else if (0 == std::strcmp(argv[i], "-echo")) {
echo = true;
} else if (0 == std::strncmp(argv[i], "-rate=", 6)) {
rate = utils::toInt(std::string(argv[i]).substr(6));
} else if (0 == std::strncmp(argv[i], "-database=", 10)) {
database = utils::toUS(std::string(argv[i]).substr(10));
}
}
// Initalize and run annotators
AnnotationGateway gateway = AnnotationGateway();
gateway.setParameter("Database", database);
gateway.run();
// Get required iterators.
uima::Feature jnFtr = gateway.getFeature("JointState", "jointNames");
uima::ANIterator jsIter = gateway.getANIterator("JointState");
std::vector<std::string> jointNames;
jointNames = utils::toVector(jsIter.get().getStringArrayFSValue(jnFtr));
// Let user choose which joints to display.
std::pair< std::vector<int>, std::vector<std::string> > selected;
selected = chooseJoints(jointNames);
std::string plot = choosePlot(selected.first.size());
coutlinesep();
// Initialize ros.
ros::init(argc, argv, "rta_plotting");
ros::NodeHandle node;
// Fire off the topic!
Topics topics = Topics(node, gateway, selected, rate, loop, echo);
topics.plot(plot);
return 0;
}
