46 using namespace OpenRAVE;
49 namespace cppexamples {
55 string scenefilename =
"data/lab1.env.xml";
56 penv->Load(scenefilename);
57 vector<RobotBasePtr> vrobots;
58 penv->GetRobots(vrobots);
64 EnvironmentMutex::scoped_lock lock(penv->GetMutex());
67 traj->Init(probot->GetActiveConfigurationSpecification());
68 probot->GetActiveDOFValues(q);
75 probot->SetDOFValues(q);
83 probot->GetController()->SetPath(traj);
87 while(!probot->GetController()->IsDone() && IsOk()) {
88 boost::this_thread::sleep(boost::posix_time::milliseconds(1));
96 int main(
int argc,
char ** argv)
99 return example.
main(argc,argv);