/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/main.cpp
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Andrew T. Miller 00021 // 00022 // $Id: main.cpp,v 1.16 2010/01/13 23:09:30 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00049 #define GRASPITDBG 00050 00051 #include <iostream> 00052 #include <graspitApp.h> 00053 #include "graspitGUI.h" 00054 #include "graspitServer.h" 00055 #include "mainWindow.h" 00056 00057 #ifdef Q_WS_WIN 00058 #include <windows.h> 00059 #include <wincon.h> 00060 #endif 00061 00062 int main(int argc, char **argv) 00063 { 00064 #ifdef GRASPITDBG 00065 #ifdef Q_WS_WIN 00066 AllocConsole(); 00067 freopen("conin$", "r", stdin); 00068 freopen("conout$", "w", stdout); 00069 freopen("conout$", "w", stderr); 00070 //ios::sync_with_stdio(); 00071 #endif 00072 #endif 00073 00074 GraspItApp app(argc, argv); 00075 00076 if (app.splashEnabled()) { 00077 app.showSplash(); 00078 QApplication::setOverrideCursor( Qt::waitCursor ); 00079 } 00080 00081 GraspItGUI gui(argc,argv); 00082 00083 //This is the GraspIt TCP server. It can be used to connect to GraspIt from 00084 //external programs, such as Matlab. 00085 //On some machines, the Q3Socket segfaults at exit, so this is commented out by 00086 //default 00087 //GraspItServer server(4765); 00088 00089 app.setMainWidget(gui.getMainWindow()->mWindow); 00090 QObject::connect(qApp, SIGNAL(lastWindowClosed()), qApp, SLOT(quit())); 00091 00092 if (app.splashEnabled()) { 00093 app.closeSplash(); 00094 QApplication::restoreOverrideCursor(); 00095 } 00096 00097 if (!gui.terminalFailure()) { 00098 gui.startMainLoop(); 00099 } 00100 return gui.getExitCode(); 00101 }