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

using namespace se2ez;

int main(int argc, char **argv)
{
    if (argc < 2)
    {
        std::cout << " Use [robot] [env1] ..." << std::endl;
        return -1;
    }

    std::vector<RobotPtr> roboList;
    for (int i = 1; i < argc; i++)
        roboList.emplace_back(io::loadRobot(std::string(argv[i])));

    auto robot = roboList[0];

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

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

    // This robot is connected with the planning panel
    gui.addPanel(new gui::JointPanel(robot, "Rob1"));
    gui.addPanel(new gui::JointPanel(robot, "Rob2"));

    // Add the rest of the robots in the scene
    for (int i = 1; i < argc - 1; i++)
    {
        auto name = "Env" + std::to_string(i);
        gui.addPanel(new gui::JointPanel(roboList[i], name));
    }

    auto scene = std::make_shared<Scene>(robot);
    gui.addPanel(new gui::ScenePanel(scene, "Scene"));
    gui.addPanel(new gui::PlanPanel(scene->getSceneRobot(), "Plan"));

    // This must be called if you want to see a robot
    gui.show();
    return a.exec();
}