cuikatlas.c File Reference

Detailed Description

Defines a discretization of the manifold implicitly defined by a set of equations.

This is an alternative to cuik based on higher dimensional continuation methods. The diference is that here we only discretize the connected component to which the first sample belongs to.

Note that this is heavely based on the Multifario by Prof. Henderson. We could re-use the code of Multifario but we decided to re-implement it to fully understant the method and to better integrate it in CuikSuite.

See Also

world.h world.c cuikplan.c

Definition in file cuikatlas.c.

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

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikatlas application.

Use:

• cuikatlas problem_name.cuik/worlds

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 cuikatlas 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 80 of file cuikatlas.c.

References ATLAS_EXT, BuildAtlasFromPoint(), CreateFileName(), CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, DeleteAtlas(), DeleteFileName(), DeleteParameters(), DeleteStatistics(), FALSE, GetElapsedTime(), GetFileFullName(), InitParametersFromFile(), InitStatistics(), PARAM_EXT, randomSet(), ReadOneSample(), and SaveAtlas().