cuikatlastrrt.c
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212 fprintf(stderr,"Exploration: %u Adjust_SA: %u (%.2f--%.2f) GlobalNN: %u GlobalCurv: %u Tree_ATLAS: %u\n",
213 EXPLORATION_RRT,ADJUST_SA,MOV_AVG_UP,MOV_AVG_DOWN,ATLASRRT_GLOBAL_NN,GET_ATLASRRT_GLOBAL_CURV_CHECK,USE_ATLAS_TREE);
int main(int argc, char **arg) Main body of the cuikatlastrrt application. Definition: cuikatlastrrt.c:79 Definition of the combination of an atlas with a RRT. Definition of basic functions. Data structure to hold the information about the name of a file. Definition: filename.h:271 void NewSuccesfulExperiment(double t, unsigned int mem, double pl, double pc, unsigned int nc, unsigned int ns, double *time, double *cost, Taverages *av) Adds data of a new experiment. Definition: averages.c:75 #define USE_ATLAS_TREE Whether to use a binary tree to search for neighbouring charts. Definition: atlas.h:78 boolean AtlasTRRT(Tparameters *pr, double *pg, double *time, double *pl, double *pc, unsigned int *ns, double ***path, double(*costF)(Tparameters *, boolean, double *, void *), void *costData, TAtlasRRTStatistics *str, Tatlasrrt *ar) Extends a Atlas-TRRT until we reach a targed point. Definition: atlasrrt.c:4688 Definition of the Tfilename type and the associated functions. void InitAtlasRRTStatistics(TAtlasRRTStatistics *arst) Init the Atlas RRT statistics. Definition: atlasrrt.c:553 void SaveSamples(char *fname, char *suffix, unsigned int nvs, unsigned int ns, double **path) Saves a set of samples to a file. Definition: samples.c:2879 Definition of the Tworld type and the associated functions. Error and warning functions. void PrintAverages(FILE *f, Taverages *av) Prints the averages of a set of experiments. Definition: averages.c:170 void PrintAveragesHeader(FILE *f, int argc, char **arg, Taverages *av) Prints a header to the averages results. Definition: averages.c:149 unsigned int AtlasRRTMemSize(Tatlasrrt *ar) Memory used by a given atlasRRT. Definition: atlasrrt.c:6066 unsigned int ReadTwoSamples(Tparameters *p, char *fname, unsigned int nvs, double **s1, double **s2) Reads two samples from a file. Definition: samples.c:2803 Definitions of constants and macros used in several parts of the cuik library. #define ATLASRRT_GLOBAL_NN Set to 1 if nearest neighbours are searched without using the chart relations. Definition: atlasrrt.h:83 Auxiliary functions to deal averages of path planner executions. A table of parameters. void CreateFileName(char *path, char *name, char *suffix, char *ext, Tfilename *fn) Constructor. Definition: filename.c:22 void InitParametersFromFile(char *file, Tparameters *p) Constructor from a file. Definition: parameters.c:51 Definition of a local chart on a manifold. char * GetFileFullName(Tfilename *fn) Gets the file full name (paht+name+extension). Definition: filename.c:151 unsigned int GetAtlasRRTNumCharts(Tatlasrrt *ar) Number of charts in the AtlasRRT. Definition: atlasrrt.c:5794 #define NO_UINT Used to denote an identifier that has not been initialized. Definition: defines.h:435 double GetParameter(unsigned int n, Tparameters *p) Gets the value for a particular parameter. Definition: parameters.c:93 Auxiliary functions to deal with sets of samples. #define CT_DETECT_BIFURCATIONS TRUE (or 1) if bifurcation must be detected. Definition: parameters.h:468 #define GET_ATLASRRT_STATISTICS Set this to one to gather statistics of AtlasRRT construction. Definition: atlasrrt.h:49 void InitAtlasRRT(Tparameters *pr, boolean parallel, double *ps, unsigned int mode, boolean graph, double *pg, TAtlasBase *w, Tatlasrrt *ar) Defines a Atlas-RRT from a given point. Definition: atlasrrt.c:4114 Definition of basic randomization functions. #define GET_ATLASRRT_GLOBAL_CURV_CHECK Set this to one to check the global curvature tolerences between charts. Definition: atlasrrt.h:91 void DeleteAverages(Taverages *av) Deletes the space used by a set of averages. Definition: averages.c:263 void DeleteSamples(unsigned int ns, double **path) Deletes the space used by a set of samples. Definition: samples.c:3159 Definition of the Tparameters type and the associated functions. unsigned int GetAtlasRRTNumNodes(Tatlasrrt *ar) Number of nodes in the AtlasRRT. Definition: atlasrrt.c:5789 void InitAverages(unsigned int m, boolean useCharts, boolean useSamples, unsigned int maxIt, Taverages *av) Initializes a set of averages. Definition: averages.c:21 unsigned int ReadOneSample(Tparameters *p, char *fname, unsigned int nvs, double **s) Reads one sample from a file. Definition: samples.c:2772 void PrintAtlasRRTStatistics(Tatlasrrt *ar, TAtlasRRTStatistics *arst) Prints the summary of atlasRRT statistics. Definition: atlasrrt.c:766 void SaveAtlasRRT(Tparameters *pr, char *prefix, Tatlasrrt *ar) Stores the Atlas-RRT information on a file. Definition: atlasrrt.c:6076 |
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