YarpOpenraveBase.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_OPENRAVE_BASE_HPP__
#define __YARP_OPENRAVE_BASE_HPP__
 
#include <string>
 
#include <yarp/os/Searchable.h>
 
#include <openrave-core.h>
 
#include <boost/thread/thread.hpp>
 
namespace roboticslab
{
 
// Specific for --env parameter
void SetViewer(OpenRAVE::EnvironmentBasePtr penv, const std::string& viewername);
 
class YarpOpenraveBase
{
public:
    YarpOpenraveBase();
 
protected:
    bool configureEnvironment(yarp::os::Searchable& config);
    bool configureOpenravePlugins(yarp::os::Searchable& config);
    bool configureRobot(yarp::os::Searchable& config);
    bool clean();
 
    //OpenRAVE//
    OpenRAVE::EnvironmentBasePtr penv;
    OpenRAVE::RobotBasePtr probot;
    std::string robotName;
 
    // Specific for --env parameter with --view
    boost::thread_group openraveThreads;
};
 
} // namespace roboticslab
 
#endif // __YARP_OPENRAVE_BASE_HPP__