24 #include <boost/iostreams/device/file_descriptor.hpp>
25 #include <boost/iostreams/stream.hpp>
26 #include <boost/format.hpp>
28 using namespace OpenRAVE;
31 int main(
int argc,
char ** argv)
38 string robotname = argv[1];
39 string iktype = argv[2];
46 EnvironmentMutex::scoped_lock lock(penv->GetMutex());
56 penv->Add(pikfast,
true,
"");
57 stringstream ssin,ssout;
58 ssin <<
"LoadIKFastSolver " << probot->GetName() <<
" " << iktype;
63 if( !pikfast->SendCommand(ssout,ssin) ) {
75 vector<dReal> vsolution;
77 stringstream ss; ss <<
"solution is: ";
78 for(
size_t i = 0; i < vsolution.size(); ++i) {
79 ss << vsolution[i] <<
" ";