AA_API void aa_rx_cl_allow_name( struct aa_rx_cl *cl, const char *frame0, const char *frame1, int allowed ) { aa_rx_cl_allow( cl, aa_rx_sg_frame_id(cl->sg, frame0), aa_rx_sg_frame_id(cl->sg, frame1), allowed ); }
int main(int argc, char *argv[]) { const char *name="scenegraph"; const char *plugin=NULL; const char *end_effector=NULL; int visual = 1; int collision = 0; int print_config = 0; int print_frame = 0; /* Parse Options */ { int c; opterr = 0; while( (c = getopt( argc, argv, "n:e:?cQF")) != -1 ) { switch(c) { case 'n': name = optarg; break; case 'c': visual = 0; collision = 1; break; case 'e': end_effector = optarg; break; case 'Q': print_config = 1; break; case 'F': print_frame = 1; break; case '?': puts("Usage: aarx-view [OPTIONS] PLUGIN_NAME\n" "Viewer for Amino scene graphs" "\n" "Options:\n" " -n NAME scene graph name (default: scenegraph)\n" " -e NAME name of an end-effector to control\n" " -Q Print configuration names and exit\n" " -F Print frame names and exit\n" " -c view collision geometry\n" "\n" "\n" "Report bugs to " PACKAGE_BUGREPORT "\n" ); exit(EXIT_SUCCESS); break; default: plugin=optarg; } } while( optind < argc ) { plugin = argv[optind++]; } } if( NULL == plugin ) { fprintf(stderr, "ERROR: scene graph plugin not specified. " "See `aarx-view -?` for options\n"); exit(EXIT_FAILURE); } /* Initialize scene graph */ struct aa_rx_sg *scenegraph = aa_rx_dl_sg(plugin, name, NULL); assert(scenegraph); aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */ /* print things */ if( print_config || print_frame ) { if( print_config ) { for( aa_rx_config_id i = 0; i < aa_rx_sg_config_count(scenegraph); i ++ ) { printf("config[%d]: %s\n", i, aa_rx_sg_config_name(scenegraph, i)); } } if( print_frame ) { for( aa_rx_frame_id i = 0; i < aa_rx_sg_frame_count(scenegraph); i ++ ) { printf("frame[%d]: %s\n", i, aa_rx_sg_frame_name(scenegraph, i)); } } exit(EXIT_SUCCESS); } /* Center configurations */ size_t m = aa_rx_sg_config_count(scenegraph); double q[m]; for(size_t i = 0; i < m; i ++ ) { double min=0,max=0; aa_rx_sg_get_limit_pos(scenegraph,(aa_rx_config_id)i,&min,&max); q[i] = (max + min)/2; } /* setup window */ struct aa_rx_win * win = aa_rx_win_default_create ( "Amino: AARX-View", SCREEN_WIDTH, SCREEN_HEIGHT ); /* Set the scenegraph for the window */ struct aa_rx_sg_sub *sub = NULL; if( end_effector ) { aa_rx_frame_id id = aa_rx_sg_frame_id(scenegraph, end_effector); if( AA_RX_FRAME_NONE == id ) { fprintf(stderr, "Could not find frame `%s'\n", end_effector); exit(EXIT_FAILURE); } sub = aa_rx_sg_chain_create( scenegraph, AA_RX_FRAME_ROOT, id); aa_rx_win_set_sg_sub(win, sub); } else { aa_rx_win_set_sg(win, scenegraph); } aa_rx_win_set_config(win, m, q); struct aa_gl_globals *globals = aa_rx_win_gl_globals(win); aa_gl_globals_set_show_visual(globals, visual); aa_gl_globals_set_show_collision(globals, collision); /* start display */ aa_rx_win_run(); /* Cleanup */ aa_rx_sg_destroy(scenegraph); aa_rx_win_destroy(win); SDL_Quit(); return 0; }