ForceController/main.cpp at master · maciejokoniewski/ForceController · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
#include "include/defs/defs.h"
#include "include/board/boardDynamixel.h"
#include "include/kinematic/kinematicLie.h"
#include "include/legModel/insectLeg.h"
#include "include/robotModel/robotMessor2.h"
#include "include/visualization/visualizerGL.h"
#include <iostream>
#include <stdio.h>

/*
 Paulina Jankowska
 Tomasz Chrosniak
 */

using namespace std;


int main( int argc, const char** argv )
{
    try {
         Board* board;
         board = createBoardDynamixel();
         std::cout << "Board type: " << board->getName() << "\n";

         Kinematic* kinematicModel;
         kinematicModel = createKinematicLie("../resources/legModel.xml");
         std::cout << "Kinematic type: " << kinematicModel->getName() << "\n";

         /*Robot* robot;
         robot = createRobotMessor("Messor2");
         std::cout << "Robot name: " << robot->getName() << "\n";

         Mat34 destinationMatrix; // where do the values come from?
         std::vector<float_type> destinationConfiguration = robot->movePlatform(destinationMatrix);
         board->setPosition(destinationConfiguration);

         std::vector<float_type> destinationCompliance = robot->computeCompliance(destinationConfiguration);
         board->setTorqueLimit(destinationCompliance);*/
    }
    catch (const std::exception& ex) {
        std::cerr << ex.what() << std::endl;
        return 1;
    }
    return 0;
}