cspace.cpp

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/* Author: Zachary Kingston */

#include <iostream>

#include <se2ez/core.h>

using namespace se2ez;

int main(int argc, char **argv)
{
    if (argc < 5)
    {
        SE2EZ_ERROR("Usage: robot_yaml jointA jointB file");
        return -1;
    }

    auto robot = io::loadRobot(std::string(argv[1]));
    if (!robot)
        return -1;

    std::string jointA = std::string(argv[2]);
    std::string jointB = std::string(argv[3]);

    CSpaceGrid grid(robot, jointA, jointB, 500, 500);
    grid.compute();
    grid.getImage()->saveFile(argv[4]);

    return 0;
}