main.cpp File Reference

#include <iostream>
#include <vector>
#include <igl/opengl/glfw/Viewer.h>
#include <igl/opengl/glfw/imgui/ImGuiPlugin.h>
#include <igl/opengl/glfw/imgui/ImGuiMenu.h>
#include <igl/opengl/glfw/imgui/ImGuiHelpers.h>
#include <igl/slim.h>
#include "./include/euler_rotations.h"
#include "./include/exoskeleton.h"
#include "./include/menu_handler.h"
#include "./include/animated_hand.h"
#include "./include/kinematic_animation.h"

Include dependency graph for main.cpp:

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Functions
int	main (void)
	This is the main execution function. It first initiates the libigl viewer and then calls the menu handler from ImGui. It then defines the exoskeleton handlers and defines the callback function for the rendering loop. For a better understanding of the dependencies see the provided call graph. More...

Function Documentation

main()

int main

(

void

)

This is the main execution function. It first initiates the libigl viewer and then calls the menu handler from ImGui. It then defines the exoskeleton handlers and defines the callback function for the rendering loop. For a better understanding of the dependencies see the provided call graph.

Definition at line 22 of file main.cpp.

{
  // Initialize viewer
  igl::opengl::glfw::Viewer viewer;
 
  // Attach a menu plugin
  igl::opengl::glfw::imgui::ImGuiPlugin plugin;
  viewer.plugins.push_back(&plugin);
  igl::opengl::glfw::imgui::ImGuiMenu menu;
  plugin.widgets.push_back(&menu);
 
  // Menu handler
  MenuHandler menu_handler(&menu);
 
  // Generate lamda function pointing to the menu callback
  auto lamda_menu_fun = [&menu_handler]() { return menu_handler.callback(); };
  menu.callback_draw_viewer_menu = lamda_menu_fun;
 
  // Initialize left exoskeleton handle
  Exoskeleton left_exoskeleton;
 
  // Initialize animated hand handler
  AnimatedHand anim_hand; 
  
  // Initialize kinematic animation 
  KinematicAnimation ka;
  ka.initialize(&viewer, &left_exoskeleton, &anim_hand, &menu_handler);
  
  // Generate lamda function pointing to the animation loop member function
  auto lamda_anim_fun =
      [&ka](igl::opengl::glfw::Viewer& viewer) { return ka.animation_loop(viewer); };
  
 
  // Set animation
  viewer.data().show_overlay_depth = false;
  viewer.data().line_width = 1;
  viewer.data().show_lines = false;
  viewer.callback_pre_draw = lamda_anim_fun;
  viewer.core().is_animating = true;
  viewer.core().animation_max_fps = 30;
  viewer.launch();
}

Here is the call graph for this function: