cuikcbirrt.c File Reference

Detailed Description

Defines a RRT on a manifold using the method proposed by

Berenson, D., Srinivasa, S., and Kuffner, J. (2011). Task space regions: A framework for pose-constrained manipulation planning. International Journal of Robotics Research. doi 10.1177/0278364910396389.

See Also

world.h world.c cuikplan.c

Definition in file cuikcbirrt.c.

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

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikcbirrt application implementing the bidirectional RRT proposed in

Berenson, D., Srinivasa, S., and Kuffner, J. (2011). Task space regions: A framework for pose-constrained manipulation planning. International Journal of Robotics Research. doi 10.1177/0278364910396389.

Use:

• cuikcbirrt problem_name.world

where

• problem_name contains the world information, including the mechanism and the obstacles. 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 cuikcbirrt 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 cuikcbirrt.c.

References cBiRRT(), CreateFileName(), CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, DeleteAverages(), DeleteFileName(), DeleteParameters(), DeleteRRT(), DeleteRRTStatistics(), DeleteSamples(), Error(), FALSE, GET_RRT_STATISTICS, GetFileFullName(), GetRRTNumNodes(), InitAverages(), InitParametersFromFile(), InitRRT(), InitRRTStatistics(), NEW, NewSuccesfulExperiment(), NO_UINT, PARAM_EXT, PrintAverages(), PrintAveragesHeader(), PrintParameters(), PrintRRTStatistics(), randomSet(), ReadTwoSamples(), RRT_EXT, RRT_VERBOSE, RRTMemSize(), SaveRRT(), SaveSamples(), TRUE, TWO_TREES, and Warning().