本文整理汇总了C++中EnvironmentBasePtr::SetCollisionChecker方法的典型用法代码示例。如果您正苦于以下问题：C++ EnvironmentBasePtr::SetCollisionChecker方法的具体用法？C++ EnvironmentBasePtr::SetCollisionChecker怎么用？C++ EnvironmentBasePtr::SetCollisionChecker使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类EnvironmentBasePtr的用法示例。
在下文中一共展示了EnvironmentBasePtr::SetCollisionChecker方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main(int argc, char **argv)
{
std::string environment_uri;
std::string robot_name;
std::string plugin_name;
size_t num_trials;
bool self = false;
bool profile = false;
// Parse arguments.
po::options_description desc("Profile OpenRAVE's memory usage.");
desc.add_options()
("num-samples", po::value<size_t>(&num_trials)->default_value(10000),
"number of samples to run")
("self", po::value<bool>(&self)->zero_tokens(),
"run self-collision checks")
("profile", po::value<bool>(&profile)->zero_tokens(),
"remove objects from environment")
("environment_uri",
po::value<std::string>(&environment_uri)->required(),
"number of samples to run")
("robot", po::value<std::string>(&robot_name)->required(),
"robot_name")
("collision_checker",
po::value<std::string>(&plugin_name)->required(),
"collision checker name")
("help",
"print usage information")
;
po::positional_options_description pd;
pd.add("environment_uri", 1);
pd.add("robot", 1);
pd.add("collision_checker", 1);
po::variables_map vm;
po::store(
po::command_line_parser(argc, argv)
.options(desc)
.positional(pd).run(),
vm
);
po::notify(vm);
if (vm.count("help")) {
std::cout << desc << std::endl;
return 1;
}
// Create the OpenRAVE environment.
RaveInitialize(true);
EnvironmentBasePtr const env = RaveCreateEnvironment();
CollisionCheckerBasePtr const collision_checker
= RaveCreateCollisionChecker(env, plugin_name);
env->SetCollisionChecker(collision_checker);
env->StopSimulation();
// "/usr/share/openrave-0.9/data/wamtest1.env.xml"
env->Load(environment_uri);
KinBodyPtr const body = env->GetKinBody(robot_name);
// Generate random configuations.
std::vector<OpenRAVE::dReal> lower;
std::vector<OpenRAVE::dReal> upper;
body->GetDOFLimits(lower, upper);
std::vector<std::vector<double> > data;
data = benchmarks::DataUtils::GenerateRandomConfigurations(
num_trials, lower, upper);
//
RAVELOG_INFO("Running %d collision checks.\n", num_trials);
boost::timer const timer;
if (profile) {
std::string const prof_name = str(
format("CheckCollision.%s.prof") % plugin_name);
RAVELOG_INFO("Writing gperftools information to '%s'.\n",
prof_name.c_str()
);
ProfilerStart(prof_name.c_str());
}
size_t num_collision = 0;
for (size_t i = 0; i < num_trials; ++i) {
body->SetDOFValues(data[i]);
bool is_collision;
if (self) {
is_collision = body->CheckSelfCollision();
} else {
is_collision = env->CheckCollision(body);
}
num_collision += !!is_collision;
}
if (profile) {
ProfilerStop();
//.........这里部分代码省略.........