00001 /*!@file AppDevices/test-rt100.C Test rt100 robot arm controller */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/AppDevices/test-rt100.C $ 00035 // $Id: test-rt100.C 7833 2007-02-01 23:01:39Z rjpeters $ 00036 // 00037 00038 #include "Component/ModelManager.H" 00039 #include "Devices/rt100.H" 00040 00041 #include <stdio.h> 00042 00043 int main(int argc, const char **argv) 00044 { 00045 // Instantiate a ModelManager: 00046 ModelManager manager("Test Model for RT100 robot arm controller"); 00047 00048 // Instantiate our various ModelComponents: 00049 nub::soft_ref<RT100> rt100(new RT100(manager)); 00050 manager.addSubComponent(rt100); 00051 00052 // Parse command-line: 00053 if (manager.parseCommandLine(argc, argv, "", 0, 0) == false) return(1); 00054 00055 // let's get all our ModelComponent instances started: 00056 manager.start(); 00057 00058 rt100->init(); //init the arm to home position 00059 00060 // stop all our ModelComponents 00061 manager.stop(); 00062 00063 // all done! 00064 return 0; 00065 } 00066 00067 // ###################################################################### 00068 /* So things look consistent in everyone's emacs... */ 00069 /* Local Variables: */ 00070 /* indent-tabs-mode: nil */ 00071 /* End: */
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