xml_load_and_solve.cpp

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//
// Copyright (c) 2020, University of Oxford
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#include <exotica_core/exotica_core.h>
#include <ros/ros.h>

using namespace exotica;

int main(int argc, char **argv)
{
    if (argc != 2) ThrowPretty("No file argument provided.");

    std::string file_name = argv[1];
    HIGHLIGHT("Loading from " << file_name);
    // Server::GetParam("ConfigurationFile", file_name);

    if (file_name.empty()) ThrowPretty("ConfigurationFile not specified!");

    ros::init(argc, argv, "example_cpp_load_and_solve_node");
    Server::InitRos(std::shared_ptr<ros::NodeHandle>(new ros::NodeHandle("~")));
    MotionSolverPtr solver = XMLLoader::LoadSolver(file_name);

    Eigen::MatrixXd solution;
    solver->Solve(solution);
    HIGHLIGHT("Solved in " << solver->GetPlanningTime() << "s");

    solver.reset();

    // Clean up
    // Run this only after all the exotica classes have been disposed of!
    Setup::Destroy();
}