cuikccrrt.c File Reference

Detailed Description

Defines a RRT on a manifold using the method proposed in

Dalibard, S., Nakhaei, A., Lamiraux, F., and Laumond, J.-P. (2009). Whole-body task planning for a humanoid robot: a way to integrate collision avoidance. In IEEE-RAS International Conference on Humanoid Robots, pages 355-360.

See Also

world.h world.c cuikplan.c

Definition in file cuikccrrt.c.

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

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikccrrt application.

Defines a RRT on a manifold using the method proposed in

Dalibard, S., Nakhaei, A., Lamiraux, F., and Laumond, J.-P. (2009). Whole-body task planning for a humanoid robot: a way to integrate collision avoidance. In IEEE-RAS International Conference on Humanoid Robots, pages 355-360.

Use:

• cuikccrrt 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 cuikccrrt 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 83 of file cuikccrrt.c.

References ccRRT(), 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, ONE_TREE, PARAM_EXT, PrintAverages(), PrintAveragesHeader(), PrintParameters(), PrintRRTStatistics(), randomSet(), ReadTwoSamples(), RRT_EXT, RRT_VERBOSE, RRTMemSize(), SaveRRT(), SaveSamples(), TRUE, and Warning().