cuikrrtstar.c File Reference

Detailed Description

Defines an otpimal RRT on a manifold following the RRT* proposed by

• S. Karaman and E. Frazzoli "Sampling-based algorithms for optimal motion planning" International Journal of Robotics Research, 2011

but adapted to operate on manifolds. In this case sample is done in the ambient space and the connections between points on the manifold is done using the method by

• 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.

The RRT* is different from other RRT's in that the tree construction is not stopped when the goal is reached, but the path is continuously improved. In the limit the optimal path is returned.

See Also

world.h world.c cuikplan.c

Definition in file cuikrrtstar.c.

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

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikrrtstar application.

Defines a RRT* on a manifold combining the works by

• S. Karaman and E. Frazzoli "Sampling-based algorithms for optimal motion planning" International Journal of Robotics Research, 2011
• 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.

Use:

• cuikrrtstar problem_name.world [num repetitions]

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.
• [num repetitions] Optional parameter to get statistics.

The .world extension is optional.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuikrrtstar 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 96 of file cuikrrtstar.c.

References CreateFileName(), CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, CT_BI_RRT, CT_MAX_PLANNING_ITERATIONS, CT_RRT_GRAPH, DeleteAtlasRRTStatistics(), DeleteAverages(), DeleteFileName(), DeleteParameters(), DeleteRRT(), DeleteSamples(), Error(), FALSE, GET_RRT_STATISTICS, GetFileFullName(), GetParameter(), GetRRTNumNodes(), HEURISTIC_RRT_STAR, InitAverages(), InitParametersFromFile(), InitRRT(), InitRRTStatistics(), NEW, NewSuccesfulExperiment(), NO_UINT, ONE_TREE, PARAM_EXT, PrintAtlasRRTStatistics(), PrintAverages(), PrintAveragesHeader(), PrintParameters(), randomSet(), ReadTwoSamples(), RRT_EXT, RRT_VERBOSE, RRTMemSize(), RRTstar(), RRTSTAR_SYMMETRIC_COST, RRTSTAR_UPDATE_COSTS, SaveRRT(), SaveSamples(), TRUE, TWO_TREES_WITH_SWAP, and Warning().