Rdiankov at 01:30, 30 November 2011

2011-11-30T01:30:56Z

Constantin: Created page with "== Code Examples == === Setting A Robots Manipulators To Default ===

  baseManip = RaveCreateModule(penv, "BaseManipulation"); if(baseManip == NULL) { 	ROS_FATAL("Was unable..."

2011-11-29T22:14:55Z

Created page with "== Code Examples == === Setting A Robots Manipulators To Default === <pre> baseManip = RaveCreateModule(penv, "BaseManipulation"); if(baseManip == NULL) { ROS_FATAL("Was unable..."

New page

== Code Examples ==
=== Setting A Robots Manipulators To Default ===
<pre>
baseManip = RaveCreateModule(penv, "BaseManipulation");
if(baseManip == NULL)
{
ROS_FATAL("Was unable to create module BaseManipulation. Check your $OPENRAVE_PLUGINS\n");
return false;
}
penv->AddModule(baseManip, myRobot->GetName());
//Move our manipulators to default positions so they don't fall with physics...
stringstream sinput, soutput;
for(vector<RobotBase::ManipulatorPtr>::const_iterator myIt = myRobot->GetManipulators().begin();
myIt != myRobot->GetManipulators().end(); myIt++)
{
sinput.clear();
sinput.str("");
sinput << "MoveManipulator goal";
for(unsigned int i = 0; i < (*myIt)->GetArmIndices().size(); i++)
sinput << " 0";

myRobot->SetActiveManipulator((*myIt)->GetName());
baseManip->SendCommand(soutput, sinput);
}
</pre>

BaseManipulation - Revision history

Rdiankov at 01:30, 30 November 2011

Constantin: Created page with "== Code Examples == === Setting A Robots Manipulators To Default ===
baseManip = RaveCreateModule(penv, "BaseManipulation"); if(baseManip == NULL) { ROS_FATAL("Was unable..."

@@ Line 1: / Line 1: @@
 == Code Examples ==
 === Setting A Robots Manipulators To Default ===
-<pre>
+<source lang="cpp">
 baseManip = RaveCreateModule(penv, "BaseManipulation");
 if(baseManip == NULL)
@@ Line 23: / Line 23: @@
 	baseManip->SendCommand(soutput, sinput);
+}
-</pre>
+</source>