ClientTracker.cpp

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/*
 * ClientTracker.cpp
 *
 *  Created on: Dec 11, 2011
 *      Author: mriedel
 */

#include <telekyb_base/TeleKyb.hpp>

#include <telekyb_base/Options.hpp>

#include <telekyb_vrpn/VRPNTrackerClient.hpp>
#include <telekyb_vrpn/VRPNTrackerClientOptions.hpp>

using namespace TELEKYB_NAMESPACE;

int main(int argc, char **argv) {
        TeleKyb::init(argc,argv,"VRPNClientTracker");

        VRPNTrackerClientOptions* options = new VRPNTrackerClientOptions();

        std::vector<std::string> clientObjectNames = options->tVRPNClientObjects->getValue();
        std::vector<VRPNTrackerClient*> clients(clientObjectNames.size());

        for (unsigned int i = 0; i < clientObjectNames.size(); ++i) {
                clients[i] = new VRPNTrackerClient(clientObjectNames[i]);
        }

        while(ros::ok()) {
                for (unsigned int i = 0; i < clientObjectNames.size(); ++i) {
                        clients[i]->spin();
                }

                usleep(10);
        }


        for (unsigned int i = 0; i < clientObjectNames.size(); ++i) {
                delete clients[i];
        }

        delete options;

        TeleKyb::shutdown();
        return EXIT_SUCCESS;
}