cuikatlasrrtstar.c File Reference

Detailed Description

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Version of cuikrrtstar where the sampling and tree growing uses the atlas (like in cuikatlasrrt).

This is the algorithm introduced in our RSS-12 paper.

See Also
world.h world.c cuikplan.c

Definition in file cuikatlasrrtstar.c.

Functions

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

Function Documentation

int main ( int  argc,
char **  arg 
)

Main body of the cuikatlasrrtstar application.

Version of cuikrrtstar where the sampling and tree growing uses the atlas (like in cuikatlasrrt).

This is the algorithm introduced in our RSS-12 paper.

Use:

  • cuikatlasrrtstar problem_name.cuik/world [num repetitions]

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.
  • [num repetitions] Optional parameter to get statistics.

The .world extension is optional.

Parameters
argcNumber of elements in the command line that starts the application (i.e., the cuikatlasrrtstar command itself and its arguments).
argStrings with the arguments.
Returns
EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 84 of file cuikatlasrrtstar.c.

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