tutorialPlan.cpp

#include <QApplication>
#include <Inventor/Qt/SoQt.h>

#include "qt_visualization/QtWindow.h"
#include "TutorialPlanSystem.h"

//Initialize the global singleton variable of the main visualization window with null.
QtWindow* QtWindow::singleton = NULL;

int
main(int argc, char** argv)
{
	//  Create the qt application object needed for the visualization.
	QApplication application(argc, argv);
	QObject::connect(&application, SIGNAL(lastWindowClosed()), &application, SLOT(quit()));

	//  The QtWindow class contains the main window needed for the visualization.
	QtWindow* window;

	//  Initialization of the coin 3D libraries which are needed for the visualization of the robot scenes.
	SoQt::init(window);
	SoDB::init();

	//  Create the TutorialPlanSystem class which contains our roblib plan system.
	boost::shared_ptr<TutorialPlanSystem> system(new TutorialPlanSystem());

	//  Create our main visualization window and pass our TutorialPlanSystem to the constructor.
	window = QtWindow::instance(system.get());

	//  Show the main visualization window to the user.
	window->show();

	//  Run the qt application.
	return application.exec();
}