C++ rtc::Manager类代码示例

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);
  ros::init(argc, argv, "ImageSensorROSBridgeComp", ros::init_options::NoSigintHandler);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}

int main (int argc, char** argv)
{
	if(!mclInitializeApplication(NULL,0))
	{
		std::cerr << "アプリケーションを初期化できません" << std::endl;
		mclGetLastErrorMessage();
		return -1;
	}
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);
  mclTerminateApplication();
  return 0;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  // manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  manager->runManager(true);

  system(SKYPEKIT_PATH);

  return 0;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager(true);

    QApplication app( argc, argv );

    MainWindow *mainWindow = new MainWindow();
    mainWindow->resize( 600, 400 );
    mainWindow->show();
    return app.exec();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}

    int initializeOpenHRPModel (char* _filename)
    {
        int rtmargc=0;
        char** argv=NULL;
        //std::vector<char *> rtmargv;
        //rtmargv.push_back(argv[0]);
        rtmargc++;

        RTC::Manager* manager;
        //manager = RTC::Manager::init(rtmargc, rtmargv.data());
        manager = RTC::Manager::init(rtmargc, argv);

        std::string nameServer = manager->getConfig()["corba.nameservers"];
        int comPos = nameServer.find(",");
        if (comPos < 0){
            comPos = nameServer.length();
        }
        nameServer = nameServer.substr(0, comPos);
        RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
        std::string filename(_filename);
        if (!loadBodyFromModelLoader(m_robot, filename.c_str(),
                                     CosNaming::NamingContext::_duplicate(naming.getRootContext()),
                                     true)){
            std::cerr << print_prefix << " Failed to load model[" << filename << "]" << std::endl;
            return 1;
        } else {
            std::cerr << print_prefix << " Success to load model[" << filename << "]" << std::endl;
        }
        return 0;
    };

int main (int argc, char** argv)
{
  RTC::Manager* manager;

  setlocale(LC_ALL, "");
  bindtextdomain(PACKAGE, LOCALEDIR);
  textdomain(PACKAGE);

  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);
  manager->init(argc, argv);
  manager->setModuleInitProc(MyModuleInit);
  manager->activateManager();
  manager->runManager();

  return 0;
}

void Simulator::clear()
{
    RTC::Manager* manager = &RTC::Manager::instance();
    for (unsigned int i=0; i<numBodies(); i++){
        BodyRTC *bodyrtc = dynamic_cast<BodyRTC *>(body(i).get());
        bodyrtc->exit();
    }
    manager->cleanupComponents();
    clearBodies();
    constraintForceSolver.clearCollisionCheckLinkPairs();
    setCurrentTime(0.0);
    pairs.clear();
    receivers.clear();
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

#ifdef _WINDOWS

  std::string path = getParam("manager.modules.load_path");
  coil::eraseBlank(path);

  coil::vstring pathList = coil::split(path, ",");

  for (int i = 0; i < pathList.size(); i++)
  {
	  std::string filepath = pathList[i];

	  char szFullPath[MAX_PATH];
	  _fullpath(szFullPath, filepath.c_str(), sizeof(szFullPath) / sizeof(szFullPath[0]));
	  std::string path = "PATH=";
	  path += getenv("PATH");
	  path += ";";
	  path += szFullPath;
	  putenv(path.c_str());

  }
#endif

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}

int main(int argc, char* argv[])
{
	int ret = 0;
	RTC::Manager* rtcManager;

    try {
        unsigned int i;
        int rtc_argc = 1;
        char** rtc_argv = (char **)malloc(sizeof(char *)*argc);
        rtc_argv[0] = argv[0];
        for (i=1; i<argc; i++){
            if (strncmp(argv[i], "--", 2)!=0 ) {
                rtc_argv[rtc_argc] = argv[i];
                rtc_argc++;
            }else {
                i++;
            } 
        }
        rtcManager = RTC::Manager::init(rtc_argc, rtc_argv);
        rtcManager->activateManager();
	}
	catch(...) {
		cerr << "Cannot initialize OpenRTM" << endl;
		exit(1);
	}

	BridgeConf* bridgeConf;

	try {
		bridgeConf = BridgeConf::initialize(argc, argv);
	} catch (std::exception& ex) {
		cerr << argv[0] << ": " << ex.what() << endl;
		exit(1);
	}


	if(bridgeConf->isReady()){
		if(setup(rtcManager, bridgeConf)){
			cout << "ready" << endl;
			rtcManager->runManager();
		} else {
			ret = 1;
		}
	}
	return ret;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;

#if defined(__linux)
  Gtk::Main kit(argc, argv);
  DialogWin dialogwin;
  Gtk::Main::run( dialogwin );
#elif defined(_WIN32)
  //HINSTANCE hInst = GetModuleHandle( NULL );
  HWND hwnd = GetWindow( NULL, GW_OWNER );
  OpenDiaog(hwnd,"Wave Files(*.wav)\0*.wav\0All Files(*.*)\0*.*\0\0",
					WaveFileName,OFN_PATHMUSTEXIST | OFN_FILEMUSTEXIST | OFN_HIDEREADONLY);
  printf("Wave File Name:%s\n", WaveFileName);

#endif

  setlocale(LC_ALL, "");
  bindtextdomain(PACKAGE, LOCALEDIR);
  textdomain(PACKAGE);

  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}

void PyLink::addShapeFromFile(std::string url)
{
    RTC::Manager* manager = &RTC::Manager::instance();
    std::string nameServer = manager->getConfig()["corba.nameservers"];
    int comPos = nameServer.find(",");
    if (comPos < 0){
        comPos = nameServer.length();
    }
    nameServer = nameServer.substr(0, comPos);
    RTC::CorbaNaming naming(manager->getORB(), nameServer.c_str());
    
    OpenHRP::ModelLoader_var modelloader = hrp::getModelLoader(CosNaming::NamingContext::_duplicate(naming.getRootContext()));
    OpenHRP::ModelLoader::ModelLoadOption opt;
    opt.readImage = true;
    opt.AABBdata.length(0);
    opt.AABBtype = OpenHRP::ModelLoader::AABB_NUM;
    OpenHRP::BodyInfo_var binfo = modelloader->getBodyInfoEx(url.c_str(), opt);
    OpenHRP::LinkInfoSequence_var lis = binfo->links();
    loadShapeFromLinkInfo(this, lis[0], binfo, createPyShape);
}

NameServerInfo RTCCommonUtil::getManagerAddress()
{
    NameServerInfo result;

    RTC::Manager* rtcManager = &RTC::Manager::instance();
    if (!rtcManager) return result;

    coil::Properties prop = rtcManager->getConfig();
    std::string val = prop.getProperty("corba.nameservers");
    DDEBUG_V("RTCCommonUtil::getManagerAddress: %s", val.c_str());
    vector<string> elems = RTCCommonUtil::split(val, ':');
    if (elems.size() == 0) return result;
    result.hostAddress = elems[0];
    result.portNo = 2809;
    if (1 < elems.size()) {
        result.portNo = QString::fromStdString(elems[1]).toInt();
    }
    result.isRtmDefaultNameServer = true;

    return result;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager(true);

  while(!pView);

  cv::namedWindow("Image Window", CV_WINDOW_AUTOSIZE);

  while(pView->isAlive()) {
    //std::cout << "Show Image" << std::endl;
    if (pView->imageQueue.size() > 0) {
      cv::Mat image = pView->imageQueue.front();
      pView->imageQueue.pop();
      imshow("Image Window", image);
      int c = cvWaitKey(1);
    }

  }
  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);
  cv::destroyWindow("Image Window");
  return 0;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.

#ifdef WIN32
  manager->runManager(false);
#elif __APPLE__
  manager->runManager(true);
  while(!pCap);

  bool active_flag = false;
  while(pCap->isAlive()) {
    bool flag = pCap->isActive();
    if (!active_flag && flag) { // Rising Edge
      pCap->onInitCalib(0);
    }
    if (flag) {
      pCap->onProcess(0);
    }
    if (active_flag && !flag) { // Falling Edge
      pCap->onFiniCalib(0);
    }
    active_flag = flag;
  }
  
#else // Linux
  manager->runManager(false);
#endif

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}