ARMBuilder use, and render time.

planner/PlannerThread.cpp

@@ -10,6 +10,7 @@
 #include "OccupancyGrid.h"
 #include "misc.h"
 #include "Preplanner.h"
+#include "ARMBuilder.h"
 
 #include <QPointF>
 #include <QJsonArray>
@@ -17,7 +18,11 @@
 #include <QFileDialog>
 #include <QFile>
 
+#include <ctime>
+#include <sstream>
+
 void PlannerThread::run() {
+    clock_t start_clock = clock();
     if (file.isEmpty()) {
         writeLog("No file selected!");
         return;
@@ -112,6 +117,13 @@ void PlannerThread::run() {
     
     OccupancyGrid oG(env, 0.5, 0.5);
     _writeLog("Occupancy grid created.");
+    
+    ARMBuilder arm(config[0], oG, env, robot);
+    _writeLog("ARM created.");
+    
+    std::ostringstream stringStream;
+    stringStream << "Runtime: " << clock() - start_clock << "ms";
+    _writeLog(stringStream.str());
 }
 
 void PlannerThread::_drawBoundary(Rectangle& rect) {