13 #define deg2rad(x) ( 3.14159265358979 / 180*(x) )
16 main(
int argc,
char* argv[])
19 string url =
"file://";
21 for(
i=0;
i < argc;
i++) {
22 if( strcmp(argv[
i],
"-url") == 0 &&
i+1 < argc) url += argv[
i+1];
28 cerr <<
"ModelLoader: " << url <<
" cannot be loaded" << endl;
32 body->calcForwardKinematics();
37 olv->load(body->modelName().c_str(), url.c_str());
38 olv->setLogName(
"move_ankle");
39 }
catch (CORBA::SystemException& ex) {
40 cerr <<
"Failed to connect GrxUI." << endl;
45 body->joint(1)->q =
deg2rad(-10);
46 body->joint(3)->q =
deg2rad(20);
47 body->joint(4)->q =
deg2rad(-10);
48 body->calcForwardKinematics();
51 Link* waist = body->link(
"WAIST");
52 Link* ankle = body->link(
"RLEG_ANKLE_R");
57 world.characterPositions.length(1);
58 world.collisions.length(0);
62 CharacterPosition& robot = world.characterPositions[0];
63 robot.characterName = CORBA::string_dup(
"SampleRobot");
78 if (!path->calcInverseKinematics(p, R)) {
83 int n = body->numLinks();
84 robot.linkPositions.length(
n);
85 for (
int i=0;
i<
n;
i++) {
86 Link* link = body->link(
i);
94 }
catch (CORBA::SystemException& ex) {
95 std::cerr <<
"OnlineViewer could not be updated." << endl;