AARXC

NAME
SYNOPSIS
DESCRIPTION
OPTIONS
ENVIRONMENT
FILES
EXAMPLES
AUTHOR
REPORTING BUGS
COPYRIGHT

NAME

aarxc − Compile scene graphs

SYNOPSIS

aarxc [OPTION] scene-files...

DESCRIPTION

Generate C and POV−ray code from scene graphs

OPTIONS

−o OUTPUT_FILE

write generated C code to OUTPUT_FILE

−n SCENE_NAME

name of the scene graph

−s SCENE_FILE

write loaded scene graph to SCENE_FILE

−p POVRAY_FILE

write generated POV−Ray code to POVRAY_FILE

−−render

Render the image (default: no)

−P POVRAY_FILE

Same as −p and −−render

−−pov−include=INCLUDE_FILE

Include INCLUDE_FILE in povray code

−−pov−x=PIXELS

Image X dimension (default: 640)

−−pov−y=PIXELS

Image Y dimension (default: 480)

−−cam−up=VECTOR

Camera up vector (default: "0 0 1")

−−cam−eye=VECTOR

Camera eye vector (default: "1 1 1")

−−cam−look=VECTOR

Camera look vector (default: "0 0 0")

−−var=NAME

Name of configuration variable to set

−−val=VALUE

Value of previously named configuration variable

−U UP_AXIS

up axis of mesh files

−F FORWARD_AXIS

forward axis of mesh files

−R|−−reload

reload files

−g,−−gui

Display scene in a GUI

−−end−effector=FRAME

Set an frame for interactive GUI control

−−list−frames

List all frames in the scene graph

−−list−vars

List all configuration variables in the scene graph

−−version,

output version information and exit

−h|−?|−−help,

display this help and exit

ENVIRONMENT

ROS_PACKAGE_PATH

Location of ROS packages, necessary to load URDF

AARX_MEMORY

Maximum heap memory size (2GB)

AARX_TMPDIR

Directory for temporary and cache files (/tmp/amino−USERNAME)

FILES

/tmp/amino−USERNAME

Default directory for temporary and cache files, set via $AARX_TMPDIR

EXAMPLES

aarxc robot.urdf −o out.c

Generate out.c from URDF file robot.urdf

aarxc −−gui robot.urdf

Display robot.urdf in the OpenGL viewer

aarxc robot.urdf −P out.pov

Generate out.pov and render image out.png

aarxc robot.urdf −s out.robray

Convert URDF to scene file out.robray

AUTHOR

Written by Neil T. Dantam

REPORTING BUGS

Report bugs to <ntd@rice.edu>"

COPYRIGHT

Copyright © 2010−2014, Georgia Tech Research Corporation

Copyright © 2015−2016, Rice University

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Neither the name of copyright holder the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.