"Applicazione di un laser range scanner a un robot mobile", 2010

ArLog::init(ArLog::StdErr, ArLog::Normal);
// connector nuovo al posto del simple
ArRobotConnector robotConnector(&parser, &tobor);
printf("This program will make the robot wander around, avoiding obstacles, and print some data and
events.\nPress Ctrl-C to exit.\n");
ArLaserConnector laserConnector(&parser, &tobor, &robotConnector); // new
// add the range devices to the robot
tobor.addRangeDevice(&sonar);
tobor.addRangeDevice(&bumpers);
tobor.addRangeDevice(&ir);
ArGripper pinza=ArGripper(&tobor);
//metodo nuovo di tentativo di connessione
if (!robotConnector.connectRobot())
{
// Error connecting:
// if the user gave the -help argumentp, then just print out what happened,
// and continue so options can be displayed later.
if (!parser.checkHelpAndWarnUnparsed())
56