walkOneLeg.cpp
No OneTemporary
Actions

Subscribers

None

File Metadata

	#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;
	}