cuikcctrrt.c File Reference

Detailed Description

Defines a RRT on a manifold but considering a cost function so that low cost regions are explored first. The exploration is guided by the method described in L. Jaillet, J. Cortes, T. Simeon, Sampling-based path planning on configuration-space costmaps IEEE Transactions on Robotics, Vol. 26(4), pp. 635 - 646, 2010. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5477164

See Also

world.h world.c cuikplan.c

Definition in file cuikcctrrt.c.

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

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikcctrrt application.

Defines a RRT on a manifold but considering a cost function so that low cost regions are explored first. The exploration is guided by the method described in L. Jaillet, J. Cortes, T. Simeon, Sampling-based path planning on configuration-space costmaps IEEE Transactions on Robotics, Vol. 26(4), pp. 635 - 646, 2010. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5477164

Use:

• cuikcctrrt 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 cuikcctrrt 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 85 of file cuikcctrrt.c.

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