/home/fwph/code/wurde/modules/laserAvoider/laserAvoiderTest.cpp

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#include <CommsManager.H>
#include <ObstacleAvoider.H>
#include <math.h>

using namespace WURDE;
using namespace std;

int main(int argc, char * argv[]){

  CommsManager myManager("OATester");
  ObstacleAvoider myAvoider(STRAT_ASSIGNED,"AvoiderClient");
  Logger myLogger("TesterClient");

  myManager.parseOptions(argc,argv);
  
  myManager.registerConsumer(&myAvoider);

  Pose goal(5,0,M_PI);
  Point pgoal(5,0);

  myManager.runUpdate();
  sleep(1);
  myManager.runUpdate();
  sleep(1);
  myManager.runUpdate();

  myAvoider.setAvoidanceRadius(0.45);
  myAvoider.moveToRelativePose(goal);
  //myAvoider.moveToRelativePoint(pgoal);

  myManager.runUpdate();
  
  myManager.cleanUp();
  
  return 0;
}

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