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84 int main( int argc, char **arg)
105 unsigned int it,nRepetitions;
113 unsigned int maxIt,execIt;
114 double *times,*costs;
122 nRepetitions=atoi(arg[2]);
124 Error( "Second parameter for cuikatlasrrtstar is wrong");
130 Warning( "To get accurate execution time statistics, set GET_ATLASRRT_STATISTICS to 0");
142 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
146 Error( "cuikatlasrrtstar do not work for problems with dynamics");
164 fprintf(stderr, "Random seed : %u\n",ri);
175 NEW(times,maxIt, double);
176 NEW(costs,maxIt, double);
179 for(it=0;it<nRepetitions;it++)
183 fprintf(stderr, "************************************************\n");
190 &planningTime,&pl,&ns,&path,arst,&atlasrrt);
207 (execIt==maxIt?times:NULL),
208 (execIt==maxIt?costs:NULL),
214 fprintf(stderr, " Execution failed\n");
218 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
230 fprintf(stderr, "%% **************************************************\n");
231 fprintf(stderr, " Random seed : %u\n",ri);
235 #if (GET_ATLASRRT_STATISTICS)
243 fprintf(stderr, "%% **************************************************\n");
266 fprintf(stderr, " Wrong number of parameters.\n");
267 fprintf(stderr, " Use:\n");
268 fprintf(stderr, " cuikatlasrrtstar <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
269 fprintf(stderr, " where <problem filename> the equations/world description\n");
270 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
271 fprintf(stderr, " This is optional.\n");
272 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
274 return(EXIT_SUCCESS);
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