예제 #1
0
int main(int argc, char * argv[])
{
    /* initialize yarp network */

    Network yarp;
    if ( !yarp.checkNetwork() )
        return -1;


    /* prepare and configure the resource finder */

    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultConfigFile("onlineLearnerModule.ini"); //overridden by --from parameter
//    rf.setDefaultContext("onlineLearnerModule/conf");   //overridden by --context parameter
    rf.configure("ICUB_ROOT", argc, argv);

    /* create your module */

    OnlineLearnerModule onlineLearnerModule;

    /* run the module: runModule() calls configure first and, if successful, it then runs */

    onlineLearnerModule.runModule(rf);

    return 0;
}
예제 #2
0
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("navigation");
    rf.setDefaultConfigFile("baseCtrl.ini");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {
        yInfo("Possible options: ");
        yInfo("'rate <r>' sets the threads rate (default 20ms).");
        yInfo("'no_filter' disables command filtering.");
        yInfo("'no_motors' motor interface will not be opened.");
        yInfo("'no_start' do not automatically enables pwm.");
        yInfo("'joystick_connect' tries to automatically connect to the joystickCtrl output.");
        yInfo("'skip_robot_interface_check' does not connect to robotInterface/rpc (useful for simulator)");
        return 0;
    }

    //Initialize Yarp network
    Network yarp;

    if (!yarp.checkNetwork())
    {
        yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
        return -1;
    }

    //Starts the control module
    CtrlModule mod;
    return mod.runModule(rf);
}
예제 #3
0
int main(int argc, char *argv[]) {
    using yarp::os::Network;
    using yarp::os::ResourceFinder;
    using iCub::interactionForces::FingerForceModule;

    // Initialise device driver list
    YARP_REGISTER_DEVICES(icubmod);

    // Open network
    Network yarp;
    if (!yarp.checkNetwork()) {
         fprintf(stdout, "Error: yarp server is not available.\n");
         return -1;
    }     

    // Using modules
    FingerForceModule mod;

    // Create resource finder
    ResourceFinder rf;
    rf.setVerbose();
    rf.setDefaultConfigFile("confFingertipsRight.ini");
    rf.setDefaultContext("fingerForce");
    rf.configure("ICUB_ROOT", argc, argv);

    // Configure and run module
    mod.configure(rf);
    mod.runModule();

    return 0;
}
int main(int argc, char *argv[])
{
    Network yarp;

    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("poeticon");    // overridden by --context
    rf.setDefaultConfigFile("geometricGrounding.ini");  // overridden by --from
    rf.configure(argc, argv);

    if(rf.check("help"))
    {
        yInfo("Options available:");
        yInfo(" --prerules <filename> (pre-rules file, default: pre_rules.dat)");
        return 0; // EXIT_SUCCESS
    }

    if(! yarp.checkNetwork() )
    {
        yError("yarp server does not seem available");
        return 1; // EXIT_FAILURE
    }

    geoGround module;
    return module.runModule(rf);
}
예제 #5
0
파일: main.cpp 프로젝트: apaikan/icub-main
int main(int argc, char * argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.configure(argc,argv);
    //rf.setDefaultContext("empty");
    //rf.setDefaultConfigFile("empty");

    if (rf.check("help"))
    {
        //help here
    }

    //initialize yarp network
    Network yarp;

    if (!yarp.checkNetwork())
    {
        fprintf(stderr, "Sorry YARP network does not seem to be available, is the yarp server available?\n");
        return -1;
    }

    YARP_REGISTER_DEVICES(icubmod)

    CtrlModule mod;

    return mod.runModule(rf);
}
예제 #6
0
/**
* Main function.
*/
int main(int argc, char * argv[])
{
    YARP_REGISTER_DEVICES(icubmod)

    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("demoINNOROBO");
    rf.setDefaultConfigFile("demoINNOROBO.ini");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {    
        cout << endl << "Options:" << endl;
        cout << "   --context    path:  where to find the called resource" << endl;
        cout << "   --from       from:  the name of the .ini file." << endl;
        cout << "   --name       name:  the name of the module (default demoINNOROBO)." << endl;
        cout << "   --robot      robot: the name of the robot. Default icub." << endl;
        cout << "   --rate       rate:  the period used by the thread. Default 100ms." << endl;
        cout << "   --verbosity  int:   verbosity level (default 1)." << endl;
        cout << endl;
        return 0;
    }

    Network yarp;
    if (!yarp.checkNetwork())
    {
        printf("No Network!!!\n");
        return -1;
    }

    demoINNOROBO chEyeTest;
    return chEyeTest.runModule(rf);
}
예제 #7
0
파일: main.cpp 프로젝트: xufango/contrib_bk
int main()
{
	Network yarp;
	if (!yarp.checkNetwork())
        return -1;

	
//	PMPmodule myPMPmodule;
	PMPnetwork_server myPMPmodule;

	Property opt;
    opt.put("Context","pmp_network_test/conf");
	myPMPmodule.openInterface(opt);

	return myPMPmodule.runModule();
/*
	ResourceFinder rf;
	rf.setVerbose(true); // print to a console conf info
	rf.setDefaultConfigFile("PMPnetworkConfiguration.ini");
	rf.setDefaultContext("conf/PMP_network"); // dove sono i file .ini
	bool ok = rf.configure("ICUB_ROOT",0,NULL);

	if(ok)	myPMPmodule.runModule(rf);
*/
	//myPMPmodule.test();
}
//********************************************
int main(int argc, char * argv[])
{
    Network yarp;

    ResourceFinder rf;
    rf.setVerbose(false);
    rf.setDefaultContext("periPersonalSpace");
    rf.setDefaultConfigFile("ppsAggregEventsForiCubGui.ini");
    rf.configure(argc,argv);
   
    if (rf.check("help"))
    {    
        yInfo(" ");
        yInfo("Options:");
        yInfo("   --context     path:  where to find the called resource (default periPersonalSpace).");
        yInfo("   --from        from:  the name of the .ini file (default ppsAggregEventsForiCubGui.ini).");
        yInfo("   --name        name:  the name of the module (default ppsAggregEventsForiCubGui).");
        yInfo("   --verbosity   verbosity:  verbosity level.");
        yInfo("   --autoConnect flag:  if to auto connect the ports or not. Default no.");
        yInfo("   --tactile    flag:  if enabled, the tactile aggreg events will be prepared for iCubGui visualization.");
        yInfo("   --pps       flag:  if enabled, the peripersonal space aggreg events will be prepared for iCubGui visualization.");
        yInfo("   --gain     gain:  the multiplication vector for the visualization of normalized event magnitude.");
        yInfo(" ");
        return 0;
    }

    if (!yarp.checkNetwork())
    {
        yError("No Network!!!");
        return -1;
    }
      
    ppsAggregEventsForiCubGui module;
    return module.runModule(rf);   
}
예제 #9
0
파일: main.cpp 프로젝트: kt10aan/icub-main
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("ctpService/conf");
    rf.configure("ICUB_ROOT",argc,argv);

    if (rf.check("help"))
    {
        yInfo() << "Options:";
        yInfo() << "\t--joints       <n>:          number of joints, default 6";
        yInfo() << "\t--name         <moduleName>: set new module name";
        yInfo() << "\t--robot        <robotname>:  robot name";
        yInfo() << "\t--part         <robotname>:  part name";
        yInfo() << "\t--filename     <filename>:   the positions file";
        yInfo() << "\t--execute      activate the iPid->setReference() control";
        yInfo() << "\t--period       <period>: the period in ms of the internal thread (default 5)";
        yInfo() << "\t--verbose      to display additional infos";
        return 0;
    }

    Network yarp;

    if (!yarp.checkNetwork())
    {
        yError() << "yarp.checkNetwork() failed.";
        return -1;
    }

    scriptModule mod;
 
    return mod.runModule(rf);
}
/**
* Main function.
*/
int main(int argc, char * argv[])
{
    Network yarp;

    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("periPersonalSpace");
    rf.setDefaultConfigFile("skinEventsAggregation.ini");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {   
        yInfo(" "); 
        yInfo("Options:");
        yInfo(" ");
        yInfo("  --context    path:  where to find the called resource");
        yInfo("  --from       from:  the name of the .ini file.");
        yInfo("  --general::name      name:  the name of the module (default virtualContactGeneration).");
        yInfo("  --general::robot     robot: the name of the robot. Default icubSim.");
        yInfo("  --general::rate      rate:  the period used by the thread. Default 100ms.");
        yInfo("  --general::verbosity int:   verbosity level (default 0).");
        yInfo(" ");
        return 0;
    }
    
    if (!yarp.checkNetwork())
    {
        printf("No Network!!!\n");
        return -1;
    }

    skinEventsAggregator sEA;
    return sEA.runModule(rf);
}
예제 #11
0
파일: main.cpp 프로젝트: robotology/cer
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("cer");
    rf.setDefaultConfigFile("robotJoystickCtrl.ini");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {
        yInfo("Possible options: ");
        yInfo("'robot <name>' the robot name for remote connection.");
        yInfo("'local <name>' the local port name.");
        yInfo("'rate <r>' sets the threads rate (default 20ms).");
        yInfo("'no_motors' motor interface will not be opened.");
        yInfo("'joystick_connect' tries to automatically connect to the joystickCtrl output.");
        yInfo("'skip_robot_interface_check' does not connect to robotInterface/rpc (useful for simulator)");

        yInfo("''");
        yInfo("example: robotJoystickCtrl --robot SIM_CER_ROBOT --joystick_connect --skip_robot_interface_check ");
        return 0;
    }

    Network yarp;

    if (!yarp.checkNetwork())
    {
        yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
        return -1;
    }

    CtrlModule mod;

    return mod.runModule(rf);
}
int main(int argc, char *argv[]) 
{
    Network yarp;

    if (!yarp.checkNetwork())
    {
        printf("No yarp network, quitting\n");
        return 1;
    }


    ControlThread myThread(4.0); //period is 4s

    myThread.start();

    bool done=false;
    double startTime=Time::now();
    while(!done)
    {
        if ((Time::now()-startTime)>5)
            done=true;
    }
    
    myThread.stop();

    return 0;
}
예제 #13
0
파일: main.cpp 프로젝트: JoErNanO/yarp
int main(int argc, char *argv[]){

	Network yarp;
	if(!yarp.checkNetwork()){
		printf("Yarp network failed!\n");
		return -1;
	}

	/*DriverCreator *kinect_factoryClient = new DriverCreatorOf<yarp::dev::KinectDeviceDriverClient>("KinectDeviceClient","","");
	DriverCreator *kinect_factoryServer = new DriverCreatorOf<yarp::dev::KinectDeviceDriverServer>("KinectDeviceServer","","");
	Drivers::factory().add(kinect_factoryClient);
	Drivers::factory().add(kinect_factoryServer);*/

	//Property config("(device KinectDeviceClient) (remotePortPrefix /kinect) (localPortPrefix /kinectSkeletonClient) (userDetection)");
	//Property config("(device KinectDeviceLocal) (portPrefix /kinectSkeletonServer) (openPorts)");
	Property config("(device KinectDeviceLocal) (portPrefix /kinectSkeletonServer) (userDetection)");
	//Property config("(device KinectDeviceLocal) (portPrefix /kinectSkeletonServer)");
	PolyDriver dd(config);
	IKinectDeviceDriver *grabber;
	dd.view(grabber);
	if (grabber==NULL) { return 0; } // failed

	GLWindow *glWindow = new GLWindow(argc,argv);

	KinectThread kinectThread(grabber,glWindow);
	kinectThread.start();

	glWindow->runGLWindow();

	return 1;
}
//********************************************
int main(int argc, char * argv[])
{
    Network yarp;

    ResourceFinder moduleRF;
    moduleRF.setVerbose(false);
    moduleRF.setDefaultContext("periPersonalSpace");
    moduleRF.setDefaultConfigFile("demoAvoidance.ini");
    moduleRF.configure(argc,argv);

    if (moduleRF.check("help"))
    {
        yInfo(" ");
        yInfo("Options:");
        yInfo("   --context     path:  where to find the called resource (default periPersonalSpace).");
        yInfo("   --from        from:  the name of the .ini file (default demoAvoidance.ini).");
        yInfo("   --name        name:  the name of the module (default avoidance).");
        yInfo("   --autoConnect flag:  if to auto connect the ports or not. Default no.");
        yInfo("   --catching    flag:  if enabled, the robot will catch the target instead of avoiding it.");
        yInfo("   --stiff       flag:  if enabled, the robot will perform movements in stiff mode instead of compliant.");
        yInfo("   --noLeftArm   flag:  if enabled, the robot will perform movements without the left arm.");
        yInfo("   --noRightArm  flag:  if enabled, the robot will perform movements without the rihgt arm.");
        yInfo(" ");
        return 0;
    }

    if (!yarp.checkNetwork())
    {
        yError("No Network!!!");
        return -1;
    }

    Avoidance module;
    return module.runModule(moduleRF);
}
예제 #15
0
int main (int argc, char * argv[])
{
    YARP_REGISTER_DEVICES(icubmod)
    
    Network yarp;
    if (!yarp.checkNetwork())
    {
        cout<<"YARP network not available. Aborting."<<endl;
        return -1;
    }
    
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultConfigFile("defaultSim.ini");         
    rf.setDefaultContext("reachComBalance/conf"); 
    rf.configure("ICUB_ROOT",argc,argv);
    
    if (rf.check("help"))
    {
        cout<< "Possible parameters"                                                                                                                                          << endl << endl;
        cout<< "\t--context          :Where to find an user defined .ini file "                                   <<endl;
        cout<< "\t--from             :Name of the file.ini to be used for calibration."                                                                                       <<endl;
        
        cout<<"The list of parameters is huge: please fill the configuration file.ini"<<endl;
        
        return 0;
    }
    
    //Creating the module
    ISIR_Balancer balancerModule;
    balancerModule.runModule(rf);
    
    return 0;
}
예제 #16
0
int main(int argc, char **argv)
{
    ResourceFinder *rf = new ResourceFinder;
    
    rf->setVerbose(true);
    rf->setDefaultConfigFile("default.ini");         //default config file name.
    rf->setDefaultContext("adaptiveControl/conf"); //when no parameters are given to the module this is the default context
    rf->configure("ICUB_ROOT",argc,argv);
    
    if (rf->check("help"))
    {
        std::cout<< "Possible parameters" << std::endl << std::endl;
        std::cout<< "\t--context          :Where to find a user defined .ini file within $ICUB_ROOT/app e.g. /adaptiveControl/conf" << std::endl;
//        std::cout<< "\t--from             :Name of the file.ini to be used for calibration." << std::endl;
        std::cout<< "\t--rate             :Period used by the module. Default set to 10ms." << std::endl;
        std::cout<< "\t--robot            :Robot name (icubSim or icub). Set to icub by default." << std::endl;
        std::cout<< "\t--local            :Prefix of the ports opened by the module. Set to the module name by default, i.e. adaptiveControl." << std::endl;
        return 0;
    }
    
    Network yarp;
    
    if (!yarp.checkNetwork())
    {
        std::cerr << "Sorry YARP network is not available\n";
        return -1;
    }
    
    //Creating the module
    adaptiveControl::AdaptiveControlModule module;
    return module.runModule(*rf);
}
예제 #17
0
파일: main.cpp 프로젝트: asilx/rossi-demo
int
main (int argc, char *argv[])
{
  Network yarp;

  if (!yarp.checkNetwork ())
    return -1;

  YARP_REGISTER_DEVICES(icubmod)

  ResourceFinder rf;
  rf.setVerbose (true);
  rf.setDefaultContext ("actionPrimitivesExample/conf");
  rf.setDefaultConfigFile ("config.ini");
  rf.setDefault ("part", "left_arm");
  rf.setDefault ("grasp_model_type", "tactile");
  rf.setDefault ("grasp_model_file", "grasp_model.ini");
  rf.setDefault ("hand_sequences_file", "hand_sequences.ini");
  rf.setDefault ("name", "actionPrimitivesMod");
  rf.setDefault ("sim", "off");
  rf.configure ("ICUB_ROOT", argc, argv);

  BehaviorModule mod;

  return mod.runModule (rf);
}
예제 #18
0
int main(int argc, char * argv[])
{
    
    Network yarp;
    if (!yarp.checkNetwork())
    {
        printf("YARP server not available!\n");
        return -1;
    }

    ShowModule module;
    ResourceFinder rf;
    rf.setDefaultContext("toolIncorporation");
    rf.setDefaultConfigFile("cloudsPath.ini");
    rf.setVerbose(true);
    rf.configure(argc, argv);


    cout<<"Configure module..."<<endl;
    module.configure(rf);
    cout<<"Start module..."<<endl;
    module.runModule();

    cout<<"Main returning..."<<endl;
    return 0;
}
예제 #19
0
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("navigation");
    rf.setDefaultConfigFile("fakeMobileBaseTest.ini");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {
        yInfo("Possible options: ");
        yInfo("'period <r>' sets the threads period (default 20ms).");
        yInfo("'joystick_connect' tries to automatically connect to the joystickCtrl output.");
        yInfo("'holonomic' if set, the robot will be holonomic");
        return 0;
    }

    Network yarp;

    if (!yarp.checkNetwork())
    {
        yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
        return -1;
    }

    CtrlModule mod;

    return mod.runModule(rf);
}
예제 #20
0
int main(int argc, char * argv[])
{
    /* initialize yarp network */ 

    Network yarp;
    if ( !yarp.checkNetwork() )
    {
        fprintf(stderr,"Connection problem. No yarp server?\n\n");
        return -1;
    }


    /* prepare and configure the resource finder */

    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultConfigFile("../conf/handTactileControl.ini"); //overridden by --from parameter
    //rf.setDefaultContext("/home/lorejam/SW/iCub_myApps/handTactileControl/conf");   //overridden by --context parameter
    rf.configure("ICUB_ROOT", argc, argv);
 
    /* create your module */

    HandTactileControlModule handControlModule; 

    /* run the module: runModule() calls configure first and, if successful, it then runs */

    handControlModule.runModule(rf);

    return 0;
}
예제 #21
0
파일: main.cpp 프로젝트: apaikan/icub-main
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("simCartesianControl");
    rf.setDefault("robot","icubSim");
    rf.setDefault("local","simCartesianControl");
    rf.setDefault("right_arm_file","cartesianRightArm.ini");
    rf.setDefault("left_arm_file","cartesianLeftArm.ini");
    rf.setDefault("right_leg_file","cartesianRightLeg.ini");
    rf.setDefault("left_leg_file","cartesianLeftLeg.ini");
    rf.configure(argc,argv);

    Network yarp;
    if (!yarp.checkNetwork())
    {
        cout<<"YARP server not available!"<<endl;
        return -1;
    }

    YARP_REGISTER_DEVICES(icubmod)

    SimCartCtrlModule mod;
    return mod.runModule(rf);
}
예제 #22
0
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("walkPlayer");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {
        cout << "Options:" << endl << endl;
        cout << "\t--name         <moduleName>: set new module name" << endl;
        cout << "\t--robot        <robotname>:  robot name"          << endl;
        cout << "\t--file         <filename>:   the positions file (with both legs)"  << endl;
        cout << "\t--filename2    <filename>:   to specifiy to use two files (left and leg separate). _left.txt and _right.txt automatically appended"  << endl;
        cout << "\t--execute      activate the iPid->setReference() control"  << endl;
        cout << "\t--period       <period>: the period in ms of the internal thread (default 5)"  << endl;
        cout << "\t--speed        <factor>: speed factor (default 1.0 normal, 0.5 double speed, 2.0 half speed etc)"  << endl;
        return 0;
    }

    Network yarp;

    if (!yarp.checkNetwork())
    {
        cout << "ERROR: yarp.checkNetwork() failed."  << endl;
        return -1;
    }

    scriptModule mod;

    return mod.runModule(rf);
}
예제 #23
0
int main(int argc, char *argv[])
{
    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("ctpService");
    rf.configure(argc,argv);

    if (rf.check("help"))
    {
        cout << "Options:" << endl << endl;
        cout << "\t--name moduleName: set new module name"      << endl;
        cout << "\t--robot robotname: robot name"      << endl;
        cout << "\t--part partname: robot part name" << endl;
        cout << "\t--from   fileName: input configuration file" << endl;
        cout << "\t--context dirName: resource finder context"  << endl;

        return 0;
    }

    Network yarp;
    if (!yarp.checkNetwork())
        return 1;

    scriptModule mod;
    return mod.runModule(rf);
}
int main(int argc, char *argv[])
{

    ResourceFinder rf;
    rf.setVerbose(true);
    rf.setDefaultContext("crawling");
    //SI: was before -> but now context has changed
    //rf.setDefaultContext("crawlingApplication/conf");

    rf.setDefaultConfigFile("crawling_managerConfig.ini");
    //SI: was before located -> ICUB_ROOT\contrib\src\crawlingTest\app\conf\managerConfig.ini

    rf.configure(argc, argv);

    if (rf.check("help"))
    {
        cout << "Options:" << endl << endl;
        cout << "\t--robot      robot: the robot name. default: iCub" << endl;

        return 0;
    }

    Network yarp;

    if (!yarp.checkNetwork())
    {
        yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
        return 1;
    }

    //create and run the Crawl generator module
    CrawlManagerModule mod;
    return mod.runModule(rf);

}
예제 #25
0
int main(int argc, char *argv[]) 
{
    Network yarp;

    ResourceFinder rf;
    rf.setVerbose(false);
    rf.setDefaultContext("controlBoardDumper");
    rf.setDefaultConfigFile("controlBoardDumper.ini");

    rf.setDefault("part","head");
    rf.setDefault("robot","icub");
    rf.setDefault("rate","500");
    rf.setDefault("joints","(0)");
    rf.setDefault("dataToDump","(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors)");    
    rf.configure(argc,argv);

    if (rf.check("help"))
    {
        printf ("\ncontrolBoardDumper usage:\n");
        printf ("1) controlBoardDumper --robot icub --part left_arm --rate 10  --joints \"(0 1 2)\" \n");
        printf ("   All data from the controlBoarWrapper will be dumped, except for advanced debugInterface (default).\n");
        printf ("\n2) controlBoardDumper --robot icub --part left_arm --rate 10  --joints \"(0 1 2)\" --dataToDump \"(xxx xxx)\"\n");
        printf (" where xxx can be uset to select one (or more) from the following:\n");
        printf (" getEncoders             (joint position)\n");
        printf (" getEncoderSpeeds        (joint velocity)\n");
        printf (" getEncoderAccelerations (joint acceleration)\n");
        printf (" getPositionErrors       (difference between desired and actual position)\n");
        printf (" getTorqueErrors         (difference between desired and measured torque, if available)\n");
        printf (" getOutputs              (Position Pid output)\n");
        printf (" getCurrents             (current given to the motor)\n");
        printf (" getTorques              (joint torques, if available)\n");
        printf (" getPosPidReferences     (last position referenece)\n");
        printf (" getTrqPidReferences     (last torque reference)\n");
        printf (" getMotorEncoders              (motor encoder position)\n");
        printf (" getMotorEncoderSpeeds         (motor encoder velocity)\n");
        printf (" getMotorEncoderAccelerations  (motor encoder acceleration\n");
        printf (" getMotorsPwm             (voltage (PWM) given to the motor)\n");
        printf (" getControlModes         (joint control mode)\n");
        printf (" getInteractionModes     (joint interaction mode)\n");
        printf (" getTemperatures         (motor temperatures)\n");
        printf ("\n3) controlBoardDumper --robot icub --part left_arm --rate 10  --joints \"(0 1 2)\" --dataToDumpAll\n");
        printf ("   All data from the controlBoarWrapper will be dumped, including data from the debugInterface (getRotorxxx).\n");
        printf ("\n --logToFile can be used to create log files storing the data\n\n");

        return 0;
    }

    if (!yarp.checkNetwork())
    {
        yError()<<"YARP server not available!";
        return 1;
    }

    DumpModule mod;
    return mod.runModule(rf);
}
예제 #26
0
파일: main.cpp 프로젝트: skkkumar/dimd
int main(int argc, char *argv[]) {
    Network yarp;
    if (!yarp.checkNetwork())
        return -1;
    dimd::DIMD imd_module;
    ResourceFinder rf;
    rf.configure(argc, argv);
    rf.setVerbose(true);
    return imd_module.runModule(rf);
    return 0;
}
예제 #27
0
int main(int argc, char *argv[])
{
    Network yarp;

    if (!yarp.checkNetwork())
        return -1;

	ReachManager reachManagerModule;
	
	return reachManagerModule.runModule(argc, argv);;
}
예제 #28
0
파일: main.cpp 프로젝트: xufango/contrib_bk
int main(int argc, char **argv)

{

    Network yarp;

    ResourceFinder rf;
    rf.setVerbose();
    rf.setDefaultConfigFile("or.ini");
    rf.setDefaultContext("traza/orBottle");
    rf.configure("ICUB_ROOT", argc, argv);
        
    ConstString robotName=rf.find("robot").asString();
    ConstString model=rf.findFile("model");
    
    cout<<"Running with:"<<endl;
    cout<<"robot: "<<robotName.c_str()<<endl;
    
    if (model=="")
    {
        cout<<"Sorry no model was found, check config parameters"<<endl;
       // return -1;
    }

    cout << "Using object model: " << model.c_str() << endl;
	

	

    if (!yarp.checkNetwork())
    {
        printf("No yarp network, quitting\n");
        return false;
    }

    	
	FuserThread*  fuserThread = new FuserThread(10);
	cout << "----------------------> going to call fuserthread..." << endl;
	fuserThread->start();
	//fuserThread->wait();
	
	while(true)
	  {
	    //if ((Time::now()-startTime)>5)
	      //done=true;
	  }


	cout << "main.cpp...returning 0" << endl;
    return 0;


}
예제 #29
0
int main(int argc, char *argv[]){
	YARP_REGISTER_DEVICES(icubmod)
	Network yarp;
	if(!yarp.checkNetwork()){
		return -1;
	}
	ResourceFinder rf;
	rf.configure("ICUB_ROOT",argc,argv);
	babbleTrackModule mod;
	mod.runModule(rf);
	return 0;
}
예제 #30
0
파일: main.cpp 프로젝트: skkkumar/IMD
int main(int argc, char **argv[])
{
   Network yarp;
   myModule mod;
   if (!yarp.checkNetwork())
       return -1;
   ResourceFinder rf;
   rf.setVerbose(true);
   rf.setDefaultContext("objectDetection");
   rf.configure(argc,*argv);
   rf.setDefault("name","objectDetection");
   return mod.runModule(rf);
}