iCub-main
icub-tutorials
src
anyRobotCartesianInterface
src
fakeRobot
main.cpp
Go to the documentation of this file.
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/*
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* Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
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* Author: Ugo Pattacini
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* email: ugo.pattacini@iit.it
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* Permission is granted to copy, distribute, and/or modify this program
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* under the terms of the GNU General Public License, version 2 or any
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* later version published by the Free Software Foundation.
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*
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* A copy of the license can be found at
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* http://www.robotcub.org/icub/license/gpl.txt
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details
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*/
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#include <yarp/os/all.h>
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#include <yarp/dev/all.h>
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#include <
fakeMotorDevice.h
>
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#include <iostream>
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#include <iomanip>
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using namespace
std;
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using namespace
yarp::os;
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using namespace
yarp::dev
;
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class
Launcher
:
public
RFModule
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{
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PolyDriver driver;
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public
:
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/**********************************************************/
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bool
configure
(ResourceFinder &rf)
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{
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Property options;
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options.put(
"device"
,
"fakeyServer"
);
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options.put(
"local"
,
"/fake_robot/fake_part"
);
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driver.open(options);
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return
driver.isValid();
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}
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/**********************************************************/
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bool
close
()
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{
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if
(driver.isValid())
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driver.close();
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return
true
;
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}
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/**********************************************************/
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double
getPeriod
() {
return
1.0; }
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bool
updateModule
() {
return
true
; }
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};
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/**********************************************************/
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int
main
()
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{
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Network
yarp
;
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if
(!
yarp
.checkNetwork())
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{
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cout<<
"Error: yarp server does not seem available"
<<endl;
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return
1;
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}
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// register here the new yarp devices
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// for dealing with the fake robot
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registerFakeMotorDevices
();
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Launcher
launcher;
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ResourceFinder rf;
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return
launcher.runModule(rf);
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}
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Launcher
This container class launches the server part of the fake motor device in order to simulate a robot c...
Definition:
main.cpp:36
Launcher::close
bool close()
Definition:
main.cpp:52
Launcher::getPeriod
double getPeriod()
Definition:
main.cpp:61
Launcher::updateModule
bool updateModule()
Definition:
main.cpp:62
Launcher::configure
bool configure(ResourceFinder &rf)
Definition:
main.cpp:41
fakeMotorDevice.h
registerFakeMotorDevices
void registerFakeMotorDevices()
Register new yarp devices for fake motor handling.
Definition:
fakeMotorDevice.cpp:24
main
int main(int argc, char *argv[])
Definition:
main.cpp:31
yarp::dev
Definition:
DebugInterfaces.h:52
yarp
Copyright (C) 2008 RobotCub Consortium.
Definition:
DebugInterfaces.h:51
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