int main(int argc, char ** argv) { //add ResourceFinder to locate iCub config file (?) yarp::os::ResourceFinder resourceFinder; resourceFinder.configure(argc, argv); yarp::os::Value file = resourceFinder.find("inputFile"); if (file.isNull()) { std::cerr << "No input file provided." << std::endl; exit(-1); } std::cout << "Start parsing " << file.asString() << std::endl; XMLReader xmlReader; Robot robot = xmlReader.getRobot(file.asString()); icub2gazebo::iCubConfigParser parser(robot); parser.startParsing(); std::cout << std::endl << std::endl << "Computing updated PIDs" << std::endl << parser.outputPIDs(); return 0; }