solver_node_wbc.cpp
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00034 
00035 /*
00036   Author: Daniel Hennes
00037  */
00038 
00039 #include <ros/ros.h>
00040 #include <sensor_msgs/JointState.h>
00041 #include <collision_detection/JointState.h>
00042 
00043 #include "collision_detection/SolverNode.h"
00044 #include "collision_detection/InverseDynamicsSolverWBC.h"
00045 
00046 int main( int argc, char** argv )
00047 {
00048   ros::init(argc, argv, "solver_node");
00049   ros::NodeHandle n("~");
00050 
00051   std::string sai_xml_fname;
00052   n.param("sai_xml", sai_xml_fname, std::string("robot.sai.xml"));
00053 
00054   XmlRpc::XmlRpcValue joint_list;
00055   std::vector<std::string> joint_names;
00056 
00057   n.getParam("joints", joint_list);
00058   ROS_ASSERT(joint_list.getType() == XmlRpc::XmlRpcValue::TypeArray);
00059   for (int32_t i = 0; i < joint_list.size(); i++) {
00060     ROS_ASSERT(joint_list[i].getType() == XmlRpc::XmlRpcValue::TypeString);
00061     joint_names.push_back(static_cast<std::string>(joint_list[i]));
00062   }
00063 
00064   InverseDynamicsSolverWBC solver = 
00065     InverseDynamicsSolverWBC(sai_xml_fname);
00066 
00067   SolverNode solver_node(solver, joint_names);
00068   
00069   ros::spin();
00070 }


kelsey_sandbox
Author(s): kelsey
autogenerated on Wed Nov 27 2013 11:52:04