cuikatlasrrt.c File Reference

Detailed Description

Defines a RRT on a manifold.

This is the algorithm introduced in our ISRR-11 paper and in our TRO-13 paper.

See Also

world.h world.c cuikplan.c

Definition in file cuikatlasrrt.c.

Functions
int	main (int argc, char **arg)
	Main body of the cuikatlasrrt application. More...

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikatlasrrt application.

This is the algorithm introduced in our ISRR-12 paper and in our TRO-13 paper.

Use:

• cuikatlasrrt problem_name.cuik/world

where

• problem_name contains the problem definition. The extension is not necessary. We first check if a file with .cuik extension exists. Othersiwe, we try to read a .world file. The name is also used to read the sample file including the origin/goal poses.

The .world extension is optional.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuikatlasrrt command itself and its arguments).
arg	Strings with the arguments.

Returns

EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 79 of file cuikatlasrrt.c.

References ADJUST_SA, ADJUST_SR, AtlasRRT(), ATLASRRT_GLOBAL_NN, ATLASRRT_VERBOSE, AtlasRRTMemSize(), CreateFileName(), CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, CT_BI_RRT, CT_DETECT_BIFURCATIONS, DeleteAtlasRRT(), DeleteAtlasRRTStatistics(), DeleteAverages(), DeleteFileName(), DeleteParameters(), DeleteSamples(), Error(), EXPLORATION_RRT, FALSE, GET_ATLASRRT_GLOBAL_CURV_CHECK, GET_ATLASRRT_STATISTICS, GetAtlasRRTNumCharts(), GetAtlasRRTNumNodes(), GetFileFullName(), GetParameter(), InitAtlasRRT(), InitAtlasRRTStatistics(), InitAverages(), InitParametersFromFile(), MOV_AVG_DOWN, MOV_AVG_UP, NEW, NewSuccesfulExperiment(), NO_UINT, PARAM_EXT, PrintAtlasRRTStatistics(), PrintAverages(), PrintAveragesHeader(), PrintParameters(), randomSet(), ReadOneSample(), ReadTwoSamples(), SaveAtlasRRT(), SaveSamples(), TRUE, USE_ATLAS_TREE, and Warning().