cuikatlasAstar.c

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#include "world.h"
#include "parameters.h"
 
#include "defines.h"
#include "error.h"
#include "filename.h"
#include "atlas.h"
#include "random.h"
#include "geom.h"
#include "samples.h"
#include "rrt.h"
#include "averages.h"
 
#include <stdlib.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;          /* Two points on the manifold to connect. */
 
  unsigned int nvs;
 
  boolean connected;
  double pl;
  unsigned int ns;
  double **path;
 
  double planningTime;
 
  Tatlas atlas;
 
  unsigned int it,nRepetitions;
  Taverages averages;
 
  unsigned int ri;
  time_t t;
 
  if (argc>1)
    {
      if (argc>2)
        {
          nRepetitions=atoi(arg[2]);
          if (nRepetitions==0)
            Error("Second parameter for cuikatlasAstar is wrong");
        }
      else
        nRepetitions=1;
      
      if ((nRepetitions>1)&&(ATLAS_VERBOSE))
        Warning("To get accurate execution time statistics, set GET_ATLASRRT_STATISTICS to 0");
 
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameters from           : %s\n",GetFileFullName(&fparam));
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      if (GetParameter(CT_DYNAMICS,&parameters)>0)
        Error("cuikatlasAstar do not work for problems with dynamics");
      
      /*Read the world/cuik from file*/
      CS_WD_INIT(&parameters,arg[1],&world);
 
      /* Read two samples (start/goal) */
      nvs=ReadTwoSamples(&parameters,arg[1],CS_WD_GET_NUM_SYSTEM_VARS(&world),&s1,&s2);
 
      /* 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,TRUE,FALSE,NO_UINT,&averages);
 
      for(it=0;it<nRepetitions;it++)
        {
          /* Initialize the atlas */
          if (!InitAtlasFromPoint(&parameters,TRUE/*parallel*/,FALSE,s1,&world,&atlas))
            Error("Can not start an atlas from the given point");
 
          /* Completed the path to the goal */
 
            connected=AtlasAStar(&parameters,s2,
                                 &planningTime,
                                 &pl,&ns,&path,&atlas);
 
          /* Save the results (only if one shot execution) */
          if (nRepetitions==1)
            {
              Tfilename fatlas;
 
              if (connected)
                {
                  SaveSamples(arg[1],FALSE,nvs,ns,path);
                  // fprintf(stderr,"Path lenght %f\n",pl);
                }
 
              // fprintf(stderr,"  Ambient space dim: %u\n",GetAtlasAmbientDim(&atlas));
              
              CreateFileName(NULL,arg[1],NULL,ATLAS_EXT,&fatlas);
              fprintf(stderr,"Writing atlas to                  : %s\n",GetFileFullName(&fatlas));
              SaveAtlas(&parameters,&fatlas,&atlas);
              DeleteFileName(&fatlas);
            }
          
          /* Summarize and delete the information for this repetition */
          if (connected)
            { 
              NewSuccesfulExperiment(planningTime,AtlasMemSize(&atlas),pl,0,
                                     (double)GetAtlasNumCharts(&atlas),
                                     NO_UINT,NULL,NULL,
                                     &averages);
              DeleteSamples(ns,path);
            }
          else
            fprintf(stderr,"  Execution failed (%f sec)\n",planningTime);
            
          DeleteAtlas(&atlas);  
 
          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);
          PrintAtlasDefines(stderr);
          PrintParameters(stderr,&parameters);
 
          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,"      cuikatlasAstar <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 parameter is optional.\n");
     fprintf(stderr,"    (the '.%s' extension is not required)\n",CS_WD_EXT);
   }
  return(EXIT_SUCCESS);
}