driver.cpp
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // roslaunch arm_ik.launch
00031 #include <ros/ros.h>
00032 
00033 #include <ias_drawer_executive/RobotDriver.h>
00034 
00035 int main(int argc, char** argv)
00036 {
00037     // Init the ROS node
00038     ros::init(argc, argv, "driver");
00039 
00040     printf("ias_drawer_executive %i\n", argc);
00041 
00042     ros::NodeHandle node_handle;
00043 
00045     if (atoi(argv[1]) == -4)
00046     {
00047 
00048       //RobotArm::getInstance(0)->tucked = true;
00049         for (int i = 0; i < (argc - 2 ) / 4; ++i)
00050         {
00051             double p[4];
00052             p[0] = atof(argv[2 + i * 4]);
00053             p[1] = atof(argv[3 + i * 4]);
00054             p[2] = atof(argv[4 + i * 4]);
00055             p[3] = atof(argv[5 + i * 4]);
00056             ROS_INFO("going to %f %f %f %f", p[0], p[1], p[2], p[3]);
00057             RobotDriver::getInstance()->moveBase(p);
00058             sleep(atof(argv[argc - 1]));
00059         }
00060     }
00061 }
00062 
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:56