extern crate gear;
extern crate nalgebra as na;

fn main() {
    // Create path planner with loading urdf file and set end link name
    let planner = gear::JointPathPlannerBuilder::from_urdf_file("sample.urdf")
        .expect("failed to create planner from urdf file")
        .collision_check_margin(0.01)
        .finalize();
    // Create inverse kinematics solver
    let solver = gear::JacobianIKSolverBuilder::<f64>::new()
        .num_max_try(1000)
        .allowable_target_distance(0.01)
        .move_epsilon(0.0001)
        .finalize();
    let solver = gear::RandomInitializeIKSolver::new(solver, 100);
    // Create path planner with IK solver
    let mut planner = gear::JointPathPlannerWithIK::new(planner, solver);
    // Create kinematic chain from the end of the link
    let mut arm = planner.create_arm("l_wrist2").unwrap();

    // Create obstacles
    let obstacles =
        gear::create_compound_from_urdf("obstacles.urdf").expect("obstacle file not found");

    // Set IK target transformation
    let mut ik_target_pose = na::Isometry3::from_parts(
        na::Translation3::new(0.40, 0.20, 0.3),
        na::UnitQuaternion::from_euler_angles(0.0, -0.1, 0.0),
    );
    // Plan the path, path is the vector of joint angles for root to "l_wrist2"
    let plan1 = planner
        .plan_with_ik(&mut arm, &ik_target_pose, &obstacles)
        .unwrap();
    println!("plan1 = {:?}", plan1);
    ik_target_pose.translation.vector[2] += 0.50;
    // plan the path from previous result
    let plan2 = planner
        .plan_with_ik(&mut arm, &ik_target_pose, &obstacles)
        .unwrap();
    println!("plan2 = {:?}", plan2);
}