int main(int argc, char **argv)
{
program_name = argv[0];
static char stderr_buf[BUFSIZ];
setbuf(stderr, stderr_buf);
assert(NCOMMANDS <= MAX_COMMANDS);
string Pargs, Largs, Fargs;
int vflag = 0;
int Vflag = 0;
int zflag = 0;
int iflag = 0;
int Xflag = 0;
int oflag = 0;
int safer_flag = 1;
int opt;
const char *command_prefix = getenv("GROFF_COMMAND_PREFIX");
if (!command_prefix)
command_prefix = PROG_PREFIX;
commands[TROFF_INDEX].set_name(command_prefix, "troff");
static const struct option long_options[] = {
{ "help", no_argument, 0, 'h' },
{ "version", no_argument, 0, 'v' },
{ NULL, 0, 0, 0 }
};
while ((opt = getopt_long(argc, argv,
"abcCd:eEf:F:gGhiI:lL:m:M:n:No:pP:r:RsStT:UvVw:W:XzZ",
long_options, NULL))
!= EOF) {
char buf[3];
buf[0] = '-';
buf[1] = opt;
buf[2] = '\0';
switch (opt) {
case 'i':
iflag = 1;
break;
case 'I':
commands[SOELIM_INDEX].set_name(command_prefix, "soelim");
commands[SOELIM_INDEX].append_arg(buf, optarg);
// .psbb may need to search for files
commands[TROFF_INDEX].append_arg(buf, optarg);
// \X'ps:import' may need to search for files
Pargs += buf;
Pargs += optarg;
Pargs += '\0';
break;
case 't':
commands[TBL_INDEX].set_name(command_prefix, "tbl");
break;
case 'p':
commands[PIC_INDEX].set_name(command_prefix, "pic");
break;
case 'g':
commands[GRN_INDEX].set_name(command_prefix, "grn");
break;
case 'G':
commands[GRAP_INDEX].set_name(command_prefix, "grap");
break;
case 'e':
commands[EQN_INDEX].set_name(command_prefix, "eqn");
break;
case 's':
commands[SOELIM_INDEX].set_name(command_prefix, "soelim");
break;
case 'R':
commands[REFER_INDEX].set_name(command_prefix, "refer");
break;
case 'z':
case 'a':
commands[TROFF_INDEX].append_arg(buf);
// fall through
case 'Z':
zflag++;
break;
case 'l':
lflag++;
break;
case 'V':
Vflag++;
break;
case 'v':
vflag = 1;
{
printf("GNU groff version %s\n", Version_string);
printf("Copyright (C) 2004 Free Software Foundation, Inc.\n"
"GNU groff comes with ABSOLUTELY NO WARRANTY.\n"
"You may redistribute copies of groff and its subprograms\n"
"under the terms of the GNU General Public License.\n"
"For more information about these matters, see the file named COPYING.\n");
printf("\ncalled subprograms:\n\n");
fflush(stdout);
}
commands[POST_INDEX].append_arg(buf);
// fall through
case 'C':
commands[SOELIM_INDEX].append_arg(buf);
commands[REFER_INDEX].append_arg(buf);
commands[PIC_INDEX].append_arg(buf);
commands[GRAP_INDEX].append_arg(buf);
commands[TBL_INDEX].append_arg(buf);
commands[GRN_INDEX].append_arg(buf);
commands[EQN_INDEX].append_arg(buf);
commands[TROFF_INDEX].append_arg(buf);
break;
case 'N':
commands[EQN_INDEX].append_arg(buf);
break;
case 'h':
help();
break;
case 'E':
case 'b':
commands[TROFF_INDEX].append_arg(buf);
break;
case 'c':
commands[TROFF_INDEX].append_arg(buf);
break;
case 'S':
safer_flag = 1;
break;
case 'U':
safer_flag = 0;
break;
case 'T':
if (strcmp(optarg, "html") == 0) {
// force soelim to aid the html preprocessor
commands[SOELIM_INDEX].set_name(command_prefix, "soelim");
}
if (strcmp(optarg, "Xps") == 0) {
warning("-TXps option is obsolete: use -X -Tps instead");
device = "ps";
Xflag++;
}
else
device = optarg;
break;
case 'F':
font::command_line_font_dir(optarg);
if (Fargs.length() > 0) {
Fargs += PATH_SEP_CHAR;
Fargs += optarg;
}
else
Fargs = optarg;
break;
case 'o':
oflag = 1;
case 'f':
case 'm':
case 'r':
case 'd':
case 'n':
case 'w':
case 'W':
commands[TROFF_INDEX].append_arg(buf, optarg);
break;
case 'M':
commands[EQN_INDEX].append_arg(buf, optarg);
commands[GRAP_INDEX].append_arg(buf, optarg);
commands[GRN_INDEX].append_arg(buf, optarg);
commands[TROFF_INDEX].append_arg(buf, optarg);
break;
case 'P':
Pargs += optarg;
Pargs += '\0';
break;
case 'L':
append_arg_to_string(optarg, Largs);
break;
case 'X':
Xflag++;
break;
case '?':
usage(stderr);
exit(1);
break;
default:
assert(0);
break;
}
}
if (safer_flag)
commands[PIC_INDEX].append_arg("-S");
else
commands[TROFF_INDEX].insert_arg("-U");
font::set_unknown_desc_command_handler(handle_unknown_desc_command);
if (!font::load_desc())
fatal("invalid device `%1'", device);
if (!postdriver)
fatal("no `postpro' command in DESC file for device `%1'", device);
if (predriver && !zflag) {
commands[TROFF_INDEX].insert_arg(commands[TROFF_INDEX].get_name());
commands[TROFF_INDEX].set_name(predriver);
// pass the device arguments to the predrivers as well
commands[TROFF_INDEX].insert_args(Pargs);
if (vflag)
commands[TROFF_INDEX].insert_arg("-v");
}
const char *real_driver = 0;
if (Xflag) {
real_driver = postdriver;
postdriver = (char *)GXDITVIEW;
commands[TROFF_INDEX].append_arg("-r" XREG "=", "1");
}
if (postdriver)
commands[POST_INDEX].set_name(postdriver);
int gxditview_flag = postdriver && strcmp(xbasename(postdriver), GXDITVIEW) == 0;
if (gxditview_flag && argc - optind == 1) {
commands[POST_INDEX].append_arg("-title");
commands[POST_INDEX].append_arg(argv[optind]);
commands[POST_INDEX].append_arg("-xrm");
commands[POST_INDEX].append_arg("*iconName:", argv[optind]);
string filename_string("|");
append_arg_to_string(argv[0], filename_string);
append_arg_to_string("-Z", filename_string);
for (int i = 1; i < argc; i++)
append_arg_to_string(argv[i], filename_string);
filename_string += '\0';
commands[POST_INDEX].append_arg("-filename");
commands[POST_INDEX].append_arg(filename_string.contents());
}
if (gxditview_flag && Xflag) {
string print_string(real_driver);
if (spooler) {
print_string += " | ";
print_string += spooler;
print_string += Largs;
}
print_string += '\0';
commands[POST_INDEX].append_arg("-printCommand");
commands[POST_INDEX].append_arg(print_string.contents());
}
const char *p = Pargs.contents();
const char *end = p + Pargs.length();
while (p < end) {
commands[POST_INDEX].append_arg(p);
p = strchr(p, '\0') + 1;
}
if (gxditview_flag)
commands[POST_INDEX].append_arg("-");
if (lflag && !vflag && !Xflag && spooler) {
commands[SPOOL_INDEX].set_name(BSHELL);
commands[SPOOL_INDEX].append_arg(BSHELL_DASH_C);
Largs += '\0';
Largs = spooler + Largs;
commands[SPOOL_INDEX].append_arg(Largs.contents());
}
if (zflag) {
commands[POST_INDEX].set_name(0);
commands[SPOOL_INDEX].set_name(0);
}
commands[TROFF_INDEX].append_arg("-T", device);
// html renders equations as images via ps
if (strcmp(device, "html") == 0) {
if (oflag)
fatal("`-o' option is invalid with device `html'");
commands[EQN_INDEX].append_arg("-Tps:html");
}
else
commands[EQN_INDEX].append_arg("-T", device);
commands[GRN_INDEX].append_arg("-T", device);
int first_index;
for (first_index = 0; first_index < TROFF_INDEX; first_index++)
if (commands[first_index].get_name() != 0)
break;
if (optind < argc) {
if (argv[optind][0] == '-' && argv[optind][1] != '\0')
commands[first_index].append_arg("--");
for (int i = optind; i < argc; i++)
commands[first_index].append_arg(argv[i]);
if (iflag)
commands[first_index].append_arg("-");
}
if (Fargs.length() > 0) {
string e = "GROFF_FONT_PATH";
e += '=';
e += Fargs;
char *fontpath = getenv("GROFF_FONT_PATH");
if (fontpath && *fontpath) {
e += PATH_SEP_CHAR;
e += fontpath;
}
e += '\0';
if (putenv(strsave(e.contents())))
fatal("putenv failed");
}
{
// we save the original path in GROFF_PATH__ and put it into the
// environment -- troff will pick it up later.
char *path = getenv("PATH");
string e = "GROFF_PATH__";
e += '=';
if (path && *path)
e += path;
e += '\0';
if (putenv(strsave(e.contents())))
fatal("putenv failed");
char *binpath = getenv("GROFF_BIN_PATH");
string f = "PATH";
f += '=';
if (binpath && *binpath)
f += binpath;
else
f += BINPATH;
if (path && *path) {
f += PATH_SEP_CHAR;
f += path;
}
f += '\0';
if (putenv(strsave(f.contents())))
fatal("putenv failed");
}
if (Vflag)
print_commands(Vflag == 1 ? stdout : stderr);
if (Vflag == 1)
exit(0);
return run_commands(vflag);
}
/**
* @function DoLoad
* @brief Load world from RSDH file
*/
void GRIPFrame::DoLoad(string filename, bool savelastload)
{
continueSimulation = false;
size_t numPages = tabView->GetPageCount();
if (mWorld) {
// fire SceneUnloaded hooks
for(size_t i=0; i< numPages; i++) {
GRIPTab* tab = (GRIPTab*)tabView->GetPage(i);
tab->GRIPEventSceneUnloaded();
}
// delete the world
DeleteWorld();
}
dart::utils::DartLoader dl;
mWorld = dl.parseWorld( filename.c_str() );
// NULL World
if( !mWorld ) {
std::cout<< "[GRIP] World pointer null. Try again with a good URDF file"<<std::endl;
return;
}
else if(mWorld->getNumSkeletons() == 0) {
std::cout<< "[GRIP] Empty world? Neither robots nor objects loaded. Try again loading a world urdf"<< std::endl;
return;
}
// Add floor
dart::dynamics::Skeleton* ground = new dart::dynamics::Skeleton();
ground->setName("ground");
dart::dynamics::BodyNode* node = new dart::dynamics::BodyNode("ground");
node->setMass(1.0);
dart::dynamics::Shape* shape = new dart::dynamics::BoxShape(Eigen::Vector3d(10.0, 10.0, 0.0001));
shape->setColor(Eigen::Vector3d(0.5, 0.5, 1.0));
node->addCollisionShape(shape);
dart::dynamics::Joint* joint = new dart::dynamics::WeldJoint();
joint->setName("groundJoint");
joint->setTransformFromParentBodyNode(Eigen::Isometry3d::Identity());
joint->setTransformFromChildBodyNode(Eigen::Isometry3d::Identity());
node->setParentJoint(joint);
ground->addBodyNode(node);
ground->setMobile(false);
mWorld->addSkeleton(ground);
// Compile OpenGL displaylists
for(int i=0; i < mWorld->getNumSkeletons(); i++) {
viewer->renderer.compileList(mWorld->getSkeleton(i));
}
// UpdateTreeView();
cout << "--(v) Done Parsing World information (v)--" << endl;
treeView->CreateFromWorld();
cout << "--(v) Done Updating TreeView (v)--" << endl;
SetStatusText(wxT("--(i) Done Loading and updating the View (i)--"));
/// Extract path to executable & save "lastload" there
if (savelastload) {
cout << "--(i) Saving " << filename << " to .lastload file (i)--" << endl;
wxString filename_string(filename.c_str(), wxConvUTF8);
saveText(filename_string,".lastload");
}
selectedTreeNode = 0;
treeView->ExpandAll();
updateAllTabs();
// fire SceneLoaded hooks
for(size_t i=0; i< numPages; i++) {
GRIPTab* tab = (GRIPTab*)tabView->GetPage(i);
tab->GRIPEventSceneLoaded();
}
viewer->DrawGLScene();
}
