xml_load_and_solve.cpp

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//
// Copyright (c) 2020, University of Oxford
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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//  * Redistributions in binary form must reproduce the above copyright
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//    prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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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();
}