xml.cpp

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#include <exotica_core/exotica_core.h>
#include <exotica_core/problems/unconstrained_end_pose_problem.h>
 
using namespace exotica;
 
void run()
{
    Server::InitRos(std::shared_ptr<ros::NodeHandle>(new ros::NodeHandle("~")));
 
    Initializer solver, problem;
 
    std::string file_name;
    Server::GetParam("ConfigurationFile", file_name);
 
    XMLLoader::Load(file_name, solver, problem);
 
    HIGHLIGHT_NAMED("XMLnode", "Loaded from XML");
 
    // Initialize
 
    PlanningProblemPtr any_problem = Setup::CreateProblem(problem);
    MotionSolverPtr any_solver = Setup::CreateSolver(solver);
 
    // Assign the problem to the solver
    any_solver->SpecifyProblem(any_problem);
    UnconstrainedEndPoseProblemPtr my_problem = std::static_pointer_cast<UnconstrainedEndPoseProblem>(any_problem);
 
    // Create the initial configuration
    Eigen::VectorXd q = Eigen::VectorXd::Zero(my_problem->N);
    Eigen::MatrixXd solution;
 
    my_problem->q_nominal = q;
 
    HIGHLIGHT("Calling solve() in an infinite loop");
 
    ros::Rate loop_rate(500.0);
    ros::WallTime init_time = ros::WallTime::now();
 
    while (ros::ok())
    {
        // Update the goal if necessary
        // e.g. figure eight
        const double t = ros::Duration((ros::WallTime::now() - init_time).toSec()).toSec();
        my_problem->cost.y = {0.6,
                              -0.1 + sin(t * 2.0 * M_PI * 0.5) * 0.1,
                              0.5 + sin(t * M_PI * 0.5) * 0.2, 0, 0, 0};
 
        // Solve the problem using the IK solver
        my_problem->SetStartState(q);
        any_solver->Solve(solution);
 
        q = solution.row(0);
 
        my_problem->Update(q);
        my_problem->GetScene()->GetKinematicTree().PublishFrames();
 
        ros::spinOnce();
        loop_rate.sleep();
    }
 
    // All classes will be destroyed at this point.
}
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "example_cpp_init_xml_node");
    HIGHLIGHT("Started");
 
    // Run demo code
    run();
 
    // Clean up
    // Run this only after all the exoica classes have been disposed of!
    Setup::Destroy();
}