ik_minimal.cpp

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//
// Copyright (c) 2018, University of Edinburgh
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#include <exotica_core/exotica_core.h>

using namespace exotica;

int main(int argc, char **argv)
{
    {
        MotionSolverPtr solver = XMLLoader::LoadSolver("{exotica_examples}/resources/configs/example_ik.xml");
        Eigen::MatrixXd solution;

        Timer timer;
        solver->Solve(solution);

        HIGHLIGHT("Finished solving in " << timer.GetDuration() << "s. Solution [" << solution << "]");
    }
    Setup::Destroy();
}