main.cpp

Go to the documentation of this file.

/* 
 * Copyright (C) 2009 RobotCub Consortium, European Commission FP6 Project IST-004370
 * Authors: Vadim Tikhanoff
 * email:   vadim.tikhanoff@iit.it
 * website: www.robotcub.org 
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
#include <iCub/particleFilter.h>
 
using namespace yarp::os;
 
int main(int argc, char * argv[])
{
    /* initialize yarp network */ 
    //Network yarp;
    Network::init();
    
    /* create the module */
    PARTICLEModule module; 
 
    /* prepare and configure the resource finder */
    ResourceFinder rf;
    rf.setDefaultConfigFile( "templatePFTracker.ini" ); //overridden by --from parameter
    rf.setDefaultContext( "templatePFTracker" );        //overridden by --context parameter
    rf.configure( argc, argv );
 
    /* run the module: runModule() calls configure first and, if successful, it then runs */
    module.runModule(rf);
    Network::fini();
 
    return 0;
}