walkOneLeg.cpp
cfdce86706c3biorob-cmake-utils

walkOneLeg.cpp
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			#include <iostream>
			#include <fstream>

			#include <stdlib.h>
			#include <math.h>
			#include <ctime>

			#include <boost/thread/recursive_mutex.hpp>
			#include <boost/thread/condition.hpp>
			#include <boost/timer.hpp>
			#include <boost/date_time/posix_time/posix_time.hpp>
			#include <boost/program_options.hpp>

			#include "Oncilla.h"
			#include "OncillaSynchronizer.h"

			using namespace std;
			using namespace boost;
			using namespace boost::program_options;

			using namespace rci;
			using namespace rci::oncilla;

			int main(int ac, char **av) {
			unsigned int cycleTimeMs = 50;
			double amplitude = 1.0;
			double offset = 0.0;
			double frequency = 1;

			/**
			* Handle command line options
			*/
			options_description desc("Allowed options");
			desc.add_options()("help", "Produce help message")("frequency",
			value<double> (), "Frequency of oscillation in Hertz")("amplitude",
			value<double> (), "Amplitude of the sine")("offset",
			value<double> (), "Offset to the output value");
			variables_map vm;
			store(parse_command_line(ac, av, desc), vm);
			notify(vm);
			if (vm.count("help")) {
			cout << desc << "\n";
			return 1;
			}
			if (vm.count("frequency")) {
			frequency = vm["frequency"].as<double> ();
			}
			cout << "Frequency set to " << frequency << " Hertz.\n";
			if (vm.count("amplitude")) {
			amplitude = vm["amplitude"].as<double> ();
			}
			cout << "Amplitude set to " << amplitude << ".\n";
			if (vm.count("offset")) {
			offset = vm["offset"].as<double> ();
			}
			cout << "Offset set to " << offset << ".\n";

			OncillaSynchronizerPtr s =
			OncillaSynchronizerPtr(new OncillaSynchronizer());
			Oncilla o;

			return EXIT_SUCCESS;
			}