cuiksmoothpath.c File Reference

Detailed Description


Local optimization of a path. Reduces the length of a path connecting two samples using a grandient-based method (i.e., it is only a local optimization).

Right now we implement the smoothing techniques introduced 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.
Implement a cuikatlassmoothpath to exploit the atlas parametrization in the smoothing.
See Also

Definition in file cuiksmoothpath.c.


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

Function Documentation

int main ( int  argc,
char **  arg 

Main body of the cuiksmoothpath application.


  • cuiksmoothpath problem_name mode iterations parallel


  • problem_name base name for the problem files.
  • mode [optional] is the algorithm to use: RANDOM, GRADIENT or SHORTCUT. The default is SHORTCUT.
  • itetarions [optional] is the maximum number of iterations (scaled by the number of steps in the intput path). The default is 2.
  • parallel [optional] 1 if the smooth has to be exectued in parallel. The default is 0.

The problem_name is without any extension.

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

Definition at line 75 of file cuiksmoothpath.c.

References CreateFileName(), CS_WD_DELETE, CS_WD_INIT, DeleteFileName(), DeleteParameters(), DeleteSamples(), Error(), FALSE, GetFileFullName(), InitParametersFromFile(), LoadSamples(), PARAM_EXT, randomSet(), SaveSamples(), SMOOTH_GRADIENT, SMOOTH_RANDOM, SMOOTH_SHORTCUT, SmoothSamples(), SOL_EXT, and TRUE.