robospace/main.cpp at main · logeexpluoqi/robospace · GitHub

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/**
 * Author: luoqi
 * Created Date: 2025-11-27 00:42:42
 * Last Modified: 2025-12-12 15:52:52
 * Modified By: luoqi at <**@****>
 * Copyright (c) 2025 <*****>
 * Description:
 */

#include "qshell/qshell.h"
#include "utils/autocrlf.hpp"
#include "utils/cmdmgr.hpp"
#include "robospace/robolink.hpp"
#include "xbot.h"

static QShell &cli = QShellObj::obj();

namespace rbs = robospace;

std::vector<rbs::RoboLink<double>> links = {
    /* name, alpha(i-1), a(i-1), d, theta, offset, qlim, type */
    {"L1",   0.0, 0.0, 100.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE},
    {"L2",  90.0, 0.0,   0.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE},
    {"L3", -90.0, 0.0, 300.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE},
    {"L4",  90.0, 0.0,   0.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE},
    {"L5", -90.0, 0.0, 250.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE},
    {"L6",  90.0, 0.0,   0.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE},
    {"L7", -90.0, 0.0, 150.0, 0.0, 0.0, {-360, 360}, rbs::JointType::REVOLUTE}
};

int main(int argc, char **argv)
{
    StreamAutoCRLF auto_crlf;
    CmdReg::init();

    XBot7Inst::inst().init("xbot", links);

    cli.exec();
    return 0;
}