cspace_gui.cpp

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/* Author: Zachary Kingston */

#include <QFileDialog>

#include <se2ez/core.h>
#include <se2ez/gui.h>
#include <se2ez/plan.h>

#include <se2ez/gui/jointpanel.h>
#include <se2ez/gui/planpanel.h>
#include <se2ez/gui/cspacepanel.h>

using namespace se2ez;

int main(int argc, char **argv)
{
    QApplication a(argc, argv);

    std::string filename;
    if (argc < 2)
    {
        QString tmp =
            QFileDialog::getOpenFileName(nullptr, "Open File", SE2EZ_YAML_DIRECTORY, "YAML (*.yml *.yaml)");
        filename = tmp.toStdString();
    }
    else
        filename = std::string(argv[1]);

    auto robot = io::loadRobot(filename);
    if (!robot)
        return -1;

    auto constraints = plan::loadConstraints(robot, filename);
    gui::MainWindow gui;

    gui.addPanel(new gui::CSpacePanel(robot, "CSpace", constraints));
    gui.addPanel(new gui::JointPanel(robot, "Robot"));

    gui.show();
    return a.exec();
}