test_dyn.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
 
#include <iostream>
#include <sstream>
 
using namespace std;
using namespace dynamicgraph::sot;
 
int main(int argc, char* argv[]) {
  if (argc != 5) {
    cerr << "Usage:" << endl;
    cerr << "./" << argv[0]
         << " DIR_OF_VRML_MODEL VRML_MODEL_FILENAME PATH_TO_SPECIFICITIES_FILE "
            "PATH_TO_LINK2JOINT_FILE "
         << endl;
    cerr << " DIR_OF_VRML_MODEL : Directory where the robot VRML model lies. "
         << endl;
    cerr << " VRML_MODEL_FILENAME : Filename of the VRML model describing the "
            "robot."
         << endl;
    cerr << " PATH_TO_SPECIFICITIES_FILE : Path to the file describing the "
            "humanoid robot specificities."
         << endl;
    cerr << " PATH_TO_LINK2JOINT_FILE: Path to the file describing the "
            "relationship of the joint and the state vector."
         << endl;
  }
  Dynamic* dyn = new Dynamic("tot");
  try {
    dyn->setVrmlDirectory(argv[1]);
    dyn->setXmlSpecificityFile(argv[3]);
    dyn->setXmlRankFile(argv[4]);
    dyn->setVrmlMainFile(argv[2]);
 
    dyn->parseConfigFiles();
  } catch (ExceptionDynamic& e) {
    if (!strcmp(e.what(), "Error while parsing.")) {
      cout << "Could not locate the necessary files for this test" << endl;
      return 77;
    } else
      // rethrow
      throw e;
  }
 
  istringstream iss;
  string help("help");
 
  delete dyn;
  return 0;
}