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walkOneLeg.cpp
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Fri, Jul 19, 12:58
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Sun, Jul 21, 12:58 (1 d, 23 h)
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R6622 liboncilla
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;
}
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