#include #include #include int main(int argc, char **argv) { std::string robotIp = "127.0.0.1"; if (argc < 2) { std::cerr << "Usage: almotion_gettasklist robotIp " << "(optional default \"127.0.0.1\")."<< std::endl; } else { robotIp = argv[1]; } AL::ALMotionProxy motion(robotIp); // Example showing how to get the current task list // We will create a task first, so that we see a result AL::ALValue names = "HeadYaw"; AL::ALValue angleLists = 1.0f; AL::ALValue timeList = 3.0f; bool isAbsolute = true; motion.setStiffnesses(names, 1.0f); motion.post.angleInterpolation(names, angleLists, timeList, isAbsolute); qi::os::msleep(100); std::cout << "Tasklist: " << motion.getTaskList() << std::endl; qi::os::sleep(3.0f); motion.setStiffnesses(names, 0.0f); return 0; }