/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/targets/enki-marxbot/EnkiMarxbot.cpp
Go to the documentation of this file.00001 /* 00002 Aseba - an event-based framework for distributed robot control 00003 Copyright (C) 2007--2009: 00004 Stephane Magnenat <stephane at magnenat dot net> 00005 (http://stephane.magnenat.net) 00006 and other contributors, see authors.txt for details 00007 Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne 00008 00009 This program is free software: you can redistribute it and/or modify 00010 it under the terms of the GNU General Public License as published by 00011 the Free Software Foundation, either version 3 of the License, or 00012 any other version as decided by the two original authors 00013 Stephane Magnenat and Valentin Longchamp. 00014 00015 This program is distributed in the hope that it will be useful, 00016 but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 GNU General Public License for more details. 00019 00020 You should have received a copy of the GNU General Public License 00021 along with this program. If not, see <http://www.gnu.org/licenses/>. 00022 */ 00023 00024 #include <enki/PhysicalEngine.h> 00025 #include <enki/robots/e-puck/EPuck.h> 00026 #include <viewer/Viewer.h> 00027 #include "AsebaMarxbot.h" 00028 #include <iostream> 00029 #include <QtGui> 00030 #include <QtDebug> 00031 00032 namespace Enki 00033 { 00034 class MarxbotViewer: public ViewerWidget 00035 { 00036 public: 00037 MarxbotViewer(World* world) : ViewerWidget(world) {} 00038 00039 void renderObjectsTypesHook() 00040 { 00041 managedObjectsAliases[&typeid(AsebaMarxbot)] = &typeid(Marxbot); 00042 } 00043 }; 00044 } 00045 00046 00047 int main(int argc, char *argv[]) 00048 { 00049 QApplication app(argc, argv); 00050 00051 // Create the world 00052 Enki::World world(200, 200); 00053 00054 // Create viewer 00055 Enki::MarxbotViewer viewer(&world); 00056 00057 // Create a Khepera and position it 00058 Enki::AsebaMarxbot *marXbot = new Enki::AsebaMarxbot(); 00059 marXbot->pos = Enki::Point(100, 100); 00060 00061 // objects are garbage collected by the world on destruction 00062 world.addObject(marXbot); 00063 00064 viewer.setWindowTitle("Aseba Enki"); 00065 viewer.show(); 00066 00067 return app.exec(); 00068 } 00069