cuikcctrrt.c

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#include "world.h"
#include "parameters.h"

#include "defines.h"
#include "error.h"
#include "filename.h"
#include "rrt.h"
#include "random.h"
#include "geom.h"
#include "samples.h"
#include "averages.h"

#include <stdlib.h>
#include <string.h>
#include <time.h>

int main(int argc, char **arg)
{
  TAtlasBase world;        /* The set of mechanism and obstacles.  */
  Tparameters parameters;  /* Parameters used in the Cuik process. */

  Tfilename fparam;
  
  double *s1,*s2;         /* Origin/goal of the RRT. */
  
  unsigned int nvs;

  Trrt rrt;

  boolean connected;
  double pl, pc;
  unsigned int ns;
  double **path;

  double planningTime;

  unsigned int it,nRepetitions;
  Taverages averages;

  unsigned int ri;
  time_t t;

  TRRTStatistics *rst;

  if (argc>1)
    {
      if (argc>2)
        {
          nRepetitions=atoi(arg[2]);
          if (nRepetitions==0)
            Error("Second parameter for cuikcctrrt is wrong");
        }
      else
        nRepetitions=1;
      
      if ((nRepetitions>1)&&((RRT_VERBOSE)||(GET_RRT_STATISTICS)))
        Warning("To get accurate execution time statistics, set RRT_VERBOSE and GET_RRT_STATISTICS to 0");

      if ((GET_RRT_STATISTICS)&&(nRepetitions>1))
        {
          NEW(rst,1,TRRTStatistics);
          InitRRTStatistics(rst);
        }
      else
        rst=NULL;

      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameters from           : %s\n",GetFileFullName(&fparam));
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);

      /*Read the world from file*/
      CS_WD_INIT(&parameters,arg[1],&world);

      /* Read samples */
      #if (EXPLORATION_RRT)
        nvs=ReadOneSample(&parameters,arg[1],CS_WD_GET_NUM_SYSTEM_VARS(&world),&s1);
        NEW(s2,nvs,double);
        memcpy(s2,s1,sizeof(double)*nvs);
      #else
        nvs=ReadTwoSamples(&parameters,arg[1],CS_WD_GET_NUM_SYSTEM_VARS(&world),&s1,&s2);
      #endif

      /* Random seed initialization */
      t=time(NULL);  /* Get the time at which input files have been read */
      ri=(unsigned int)t;
      randomSet(ri);
      fprintf(stderr,"Random seed                       : %u\n",ri);

      /* Start the process to connect the two samples */
      InitAverages(nRepetitions,FALSE,TRUE,NO_UINT,&averages);

      for(it=0;it<nRepetitions;it++)
        {
          /* Init a one-directional RRT */
          InitRRT(&parameters,FALSE,FALSE,s1,ONE_TREE,FALSE,s2,nvs,&world,&rrt);
          fprintf(stderr,"************************************************\n");   

          /* Try to connect the goal with a tree from the start */
          connected=ccTRRT(&parameters,s2,
                           &planningTime,
                           &pl,&pc,&ns,&path,CS_WD_COST_FN(&world),
                           CS_WD_COST_PTR(&world),rst,&rrt);

          /* Save the results (only if one shot execution) */
          if (nRepetitions==1)
            {
              Tfilename frrt;

              #if (!EXPLORATION_RRT)
                if (connected)
                  SaveSamples(arg[1],FALSE,nvs,ns,path);
              #endif

              CreateFileName(NULL,arg[1],NULL,RRT_EXT,&frrt);
              fprintf(stderr,"Writing RRT to                : %s\n",GetFileFullName(&frrt));
              SaveRRT(&frrt,&rrt);
              DeleteFileName(&frrt);
            }

          /* Summarize and release allocated objects for this repetition*/
          if ((EXPLORATION_RRT)||(connected))
            {
              NewSuccesfulExperiment(planningTime,RRTMemSize(&rrt),pl,pc,
                                     NO_UINT,
                                     (double)GetRRTNumNodes(&rrt),
                                     NULL,NULL,
                                     &averages);
              DeleteSamples(ns,path);
            }
          else
            fprintf(stderr,"  Execution failed (%f sec)\n",planningTime);
                    
          DeleteRRT(&rrt);

          fprintf(stderr,"Execution compleated %u/%u\n",it+1,nRepetitions);
        }

      /* Print statistics about the execution (only if many iterations) */
      if (nRepetitions>1)
        {
          PrintAveragesHeader(stderr,argc,arg,&averages);

          fprintf(stderr,"%% **************************************************\n");
          fprintf(stderr,"Random seed : %u\n",ri);
          PrintParameters(stderr,&parameters);

          #if (GET_RRT_STATISTICS)
            PrintRRTStatistics(NULL,rst);
            DeleteRRTStatistics(rst);
            free(rst);
          #endif

          PrintAverages(stderr,&averages);

          fprintf(stderr,"%% **************************************************\n");
        }

      /* Release memory */
      DeleteAverages(&averages);

      free(s1);
      free(s2);

      DeleteParameters(&parameters);
            
      CS_WD_DELETE(&world);

      DeleteFileName(&fparam);
    }
 else
   {
     fprintf(stderr,"  Wrong number of parameters.\n");
     fprintf(stderr,"  Use:\n");   
     fprintf(stderr,"      cuikcctrrt <problem filename>.%s [num Repetitions]\n",CS_WD_EXT);
     fprintf(stderr,"  where <problem filename> the equations/world description\n");
     fprintf(stderr,"        <num Repetitions> experiment repetitions to gather statistics\n");
     fprintf(stderr,"                          This is optional.\n");
     fprintf(stderr,"    (the '.%s' extension is not required)\n",CS_WD_EXT);
   }
  return(EXIT_SUCCESS);
}