hormodular::SimulationOpenRAVE::SimulationOpenRAVE	(	std::string	environment_file,
		bool	show_simulation = `true`
	)

Creates a SimulationOpenRAVE using the environment defined in the environment_file.

Parameters:

environment_file	Path to the XML file defining the OpenRAVE simulation environment
show_simulation	If true (default value), enables the simulation viewer

{
    this->environment_file = environment_file;

    //-- Initialize OpenRAVE:
    OpenRAVE::RaveInitialize(true);

    //-- Create main environment:
    penv = OpenRAVE::RaveCreateEnvironment();
    //OpenRAVE::RaveSetDebugLevel(OpenRAVE::Level_Debug);
    penv->StopSimulation();

    //-- Run the viewer on a different thread, and wait for it to be ready:
    this->show_simulation = show_simulation;
    pthviewer = NULL;

    if ( show_simulation )
        showViewer();

    //-- Init (load and setup everything)
    init();
}

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