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.

Todo:

Implement a cuikatlassmoothpath to exploit the atlas parametrization in the smoothing.

See Also

cuikatlas.c

Definition in file cuiksmoothpath.c.

Functions
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.

Use:

• cuiksmoothpath problem_name mode iterations parallel

where

• 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.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuiksmoothpath 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 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.