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;
}
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);
}
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);
}
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);
}
/**
* 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);
}
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);
}
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);
}
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;
}
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);
}
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;
}
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);
}
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);
}
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;
}
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);
}
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;
}
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);
}
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);
}
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);
}
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);
}
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;
}
int main(int argc, char *argv[])
{
Network yarp;
if (!yarp.checkNetwork())
return -1;
ReachManager reachManagerModule;
return reachManagerModule.runModule(argc, argv);;
}
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;
}
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;
}
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);
}