experience.cpp

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/* Author: Constantinos Chamzas */
#include <se2ez/core.h>
#include <se2ez/gui.h>
#include <se2ez/gui/jointpanel.h>
#include <se2ez/gui/scenepanel.h>
#include <se2ez/gui/planpanel.h>

using namespace se2ez;

int main(int argc, char **argv)
{
    if (argc < 2)
    {
        std::cout << "Please give 2 filenames to load!" << std::endl;
        return -1;
    }

    auto robot = io::loadRobot(std::string(argv[1]));
    auto robot2 = io::loadRobot(std::string(argv[1]));
    auto env = io::loadRobot(std::string(argv[2]));

    if (!robot || !env || !robot2)
        return -1;

    std::cout << robot->printTree() << std::endl;

    QApplication a(argc, argv);
    gui::MainWindow gui;

    // This robot is connected with the planning panel
    auto panel1 = new gui::JointPanel(robot, "Rob1");

    // This robot is independent from   the planning panel
    auto panel2 = new gui::JointPanel(robot, "Rob2");

    // This simply contains the pairs of circles
    auto panel3 = new gui::JointPanel(env, "Circ1");
    auto panel4 = new gui::JointPanel(env, "Circ2");

    // TODO make a copy robot function
    auto scene = std::make_shared<Scene>(robot2);
    auto panel5 = new gui::ScenePanel(scene, "Scene");

    auto panel6 = new gui::PlanPanel(scene->getSceneRobot(), "Plan");

    // This must be called if you want to see a robot
    gui.addPanel(panel1);
    gui.addPanel(panel2);
    gui.addPanel(panel3);
    gui.addPanel(panel4);
    gui.addPanel(panel5);
    gui.addPanel(panel6);

    gui.show();

    return a.exec();
}