no way to compare when less than two revisions

Differences

This shows you the differences between two versions of the page.


Last revision
—doc:logging:tutorials-cpp:sample-program [2014/09/19 07:47] – created winkler
Line 1: Line 1:
 +====== Sample C++ Program for ''beliefstate_client'' ======
  
 +<code cpp>
 +#include <ros/ros.h>
 +#include <cstdlib>
 +#include <beliefstate_client/BeliefstateClient.h>
 +#include <beliefstate_client/Context.h>
 +
 +
 +using namespace beliefstate_client;
 +
 +
 +int main(int argc, char** argv) {
 +  ros::init(argc, argv, "bs_client");
 +  BeliefstateClient* bscl = new BeliefstateClient("bs_client");
 +  
 +  Context* ctxMain = new Context(bscl, "MainTimeline", "&sim;", "MainTimeline", 0);
 +  ctxMain->annotateParameter("Room", "Kitchen");
 +  
 +  Object* objCup = new Object("&sim;", "Cup");
 +  Object* objTable = new Object("&sim;", "Table");
 +  Object* objHand = new Object("&sim;", "Hand");
 +  
 +  Context* ctxCupOnTable = ctxMain->startContext("ObjectsInContact", "&sim;", "ObjectsInContact", 0);
 +  ctxCupOnTable->addObject(objCup, "knowrob:objectInContact");
 +  ctxCupOnTable->addObject(objTable, "knowrob:objectInContact");
 +  
 +  Context* ctxCloseHand = ctxMain->startContext("CloseHand", "&sim;", "CloseHand", 1);
 +  ctxCloseHand->addObject(objHand, "knowrob:affectedObject");
 +  ctxCloseHand->end(true, 2);
 +  
 +  Context* ctxCupInHand = ctxMain->startContext("CupInHand", "&sim;", "CupInHand", 1);
 +  ctxCupInHand->addObject(objCup, "knowrob:objectInContact");
 +  ctxCupInHand->addObject(objHand, "knowrob:objectInContact");
 +  
 +  Context* ctxLiftHand = ctxMain->startContext("LiftHand", "&sim;", "LiftHand", 3);
 +  ctxLiftHand->addObject(objHand, "knowrob:affectedObject");
 +  ctxLiftHand->end(true, 4);
 +  
 +  ctxCupOnTable->end(true, 3);
 +  
 +  // Cleanup
 +  ctxCupInHand->end(true, 10);
 +  ctxMain->end(true, 10);
 +  
 +  delete objCup;
 +  delete objTable;
 +  
 +  delete ctxMain;
 +  delete ctxCupOnTable;
 +  delete ctxCupInHand;
 +  delete ctxCloseHand;
 +  delete ctxLiftHand;
 +  
 +  bscl->exportFiles("logged_data");
 +  
 +  delete bscl;
 +  
 +  return EXIT_SUCCESS;
 +}
 +</code>