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80 int main( int argc, char **arg)
100 unsigned int it,nRepetitions;
109 nRepetitions=atoi(arg[2]);
114 Warning( "To get accurate execution time statistics, set GET_ATLASRRT_STATISTICS to 0");
118 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
122 Error( "cuikatlasGBF do not work for problems with dynamics");
134 fprintf(stderr, "Random seed : %u\n",ri);
139 for(it=0;it<nRepetitions;it++)
142 Error( "Can not start an atlas from the given point");
144 fprintf(stderr, "************************************************\n");
148 &pl,&ns,&path,&atlas);
177 fprintf(stderr, " Execution failed (%f sec)\n",planningTime);
181 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
189 fprintf(stderr, "%% **************************************************\n");
190 fprintf(stderr, " Random seed : %u\n",ri);
196 fprintf(stderr, "%% **************************************************\n");
213 fprintf(stderr, " Wrong number of parameters.\n");
214 fprintf(stderr, " Use:\n");
215 fprintf(stderr, " cuikatlasGBF <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
216 fprintf(stderr, " where <problem filename> the equations/world description\n");
217 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
218 fprintf(stderr, " This is optional.\n");
219 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
221 return(EXIT_SUCCESS);
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