text: 
  #include <QQmlApplicationEngine>
  #include <QQuickView>
  #include <QtQuick>
  #include <QtWidgets>
  #include <iostream>
  #include "RRTWidget.hpp"
  
  using namespace std;
  
  int main(int argc, char** argv) {
      QApplication app(argc, argv);
      app.setOrganizationName("RoboJackets");
      app.setApplicationName("Interactive RRT");
  
      // load qml
      QQmlApplicationEngine engine(nullptr);
      engine.rootContext()->setContextProperty("main", &engine);
  
      qmlRegisterType<RRTWidget>("RRTWidget", 1, 0, "RRTWidget");
  
      // load main.qml from qt resources - baked into binary through cmake
      engine.load((QUrl("qrc:///main.qml")));
  
      // get reference to main window from qml
      auto win = static_cast<QQuickView*>(engine.rootObjects()[0]);
      if (!win) {
          cerr << "Failed to load qml" << endl;
          exit(1);
      }
  
      win->show();
  
      return app.exec();
  }
  