42 #include <boost/bind.hpp>
45 using namespace OpenRAVE;
47 namespace cppexamples {
54 __description =
"A very simple plugin.";
55 RegisterCommand(
"numbodies",boost::bind(&MyModule::NumBodies,
this,_1,_2),
"returns bodies");
56 RegisterCommand(
"load",boost::bind(&MyModule::Load,
this,_1,_2),
"loads a given file");
65 int main(
const string& cmd)
67 RAVELOG_INFO(
"module initialized cmd; %s\n", cmd.c_str());
71 bool NumBodies(ostream& sout, istream& sinput)
73 vector<KinBodyPtr> vbodies;
74 GetEnv()->GetBodies(vbodies);
75 sout << vbodies.size();
79 bool Load(ostream& sout, istream& sinput)
83 bool bSuccess = GetEnv()->Load(filename.c_str());
92 if( type == PT_Module && interfacename ==
"mymodule" ) {