cuikatlastrrt.c

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#include "world.h"
#include "parameters.h"
 
#include "defines.h"
#include "error.h"
#include "filename.h"
#include "atlasrrt.h"
#include "random.h"
#include "geom.h"
#include "chart.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;
 
  Tatlasrrt atlasrrt;
 
  boolean connected;
  double pl, pc;
  unsigned int ns;
  double **path;
 
  double planningTime;
 
  unsigned int it,nRepetitions;
  Taverages averages;
 
  unsigned int ri; /* random seed*/
  time_t t;        /* Used to timestamp the results */
 
  unsigned int db;
 
  TAtlasRRTStatistics *arst;
 
  if (argc>1)
    {      
      if (argc>2)
        {
          nRepetitions=atoi(arg[2]);
          if (nRepetitions==0)
            Error("Second parameter for cuikatlastrrt is wrong");
        }
      else
        nRepetitions=1;
 
      if ((nRepetitions>1)&&(GET_ATLASRRT_STATISTICS))
        Warning("To get accurate execution time statistics, set GET_ATLASRRT_STATISTICS to 0");
 
      if ((nRepetitions>1)&&(ATLASRRT_VERBOSE))
        Warning("To get accurate execution time statistics, set GET_ATLASRRT_STATISTICS to 0");
 
      if ((GET_ATLASRRT_STATISTICS)&&(nRepetitions>1))
        {
          NEW(arst,1,TAtlasRRTStatistics);
          InitAtlasRRTStatistics(arst);
        }
      else
        arst=NULL;
 
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameters from           : %s\n",GetFileFullName(&fparam));          
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      db=(unsigned int)GetParameter(CT_DETECT_BIFURCATIONS,&parameters);
      if (db>0)
        Error("cuikatlastrrt does not deal with bifurcations (yet)");
 
      /*Read the world/cuik 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;
      //ri=1532025502;
      randomSet(ri);
      fprintf(stderr,"Random seed                       : %u\n",ri);
 
      /* Start the process to connect the two samples */
      InitAverages(nRepetitions,TRUE,TRUE,NO_UINT,&averages);
 
      for(it=0;it<nRepetitions;it++)
        {
          /* Initialize the atlas */  
          InitAtlasRRT(&parameters,FALSE/*parallel*/,s1,ONE_TREE,FALSE,s2,&world,&atlasrrt);
          fprintf(stderr,"************************************************\n"); 
                
          /* Define the path using the atlas */
          connected=AtlasTRRT(&parameters,s2,
                              &planningTime,
                              &pl,&pc,&ns,&path,CS_WD_COST_FN(&world),
                              CS_WD_COST_PTR(&world),arst,&atlasrrt);
      
          /* Save the results (only if one shot execution) */
          if (nRepetitions==1)
            {
              if (connected)
                SaveSamples(arg[1],FALSE,nvs,ns,path);
 
              SaveAtlasRRT(&parameters,arg[1],&atlasrrt);
            }
 
          /* Summarize and release allocated objects for this repetition*/
 
          if ((EXPLORATION_RRT)||(connected))
            {
              NewSuccesfulExperiment(planningTime,AtlasRRTMemSize(&atlasrrt),pl,pc,
                                     (double)GetAtlasRRTNumCharts(&atlasrrt),
                                     (double)GetAtlasRRTNumNodes(&atlasrrt),
                                     NULL,NULL,
                                     &averages);
              DeleteSamples(ns,path);
            }
          else
            fprintf(stderr,"  Execution failed (%f sec)\n",planningTime);
 
          DeleteAtlasRRT(&atlasrrt);
 
          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);
          fprintf(stderr,"   Random seed : %u\n",ri);
          PrintAtlasRRTDefines(stderr);
          PrintParameters(stderr,&parameters);
 
          #if (GET_ATLASRRT_STATISTICS)
            PrintAtlasRRTStatistics(NULL,arst);
            DeleteAtlasRRTStatistics(arst);
            free(arst);
          #endif
 
          PrintAverages(stderr,&averages);
 
          fprintf(stderr,"%% **************************************************\n");
        }
 
      /* Release memory */
      DeleteAverages(&averages);
 
      /* Release memory */
      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,"      cuikatlastrrt <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);
}