cuikatlasvolume.c

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#include "world.h"
#include "parameters.h"
 
#include "defines.h"
#include "error.h"
#include "filename.h"
#include "atlas.h"
#include "samples.h"
 
#include <stdlib.h>
 
int main(int argc, char **arg)
{
  TAtlasBase world;        /* The set of mechanism and obstacles.  */
  Tparameters parameters;  /* Parameters used in the Cuik process. */
  Tatlas atlas;            /* The atlas to measure. */
 
  boolean collisionFree;
  double v;
 
  Tfilename fparam;
  Tfilename fatlas;
  
  
  if ((argc==2)||(argc==3))
    { 
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
      fprintf(stderr,"Reading parameters from  : %s\n",GetFileFullName(&fparam));
 
      /*Read the world from file*/ 
      CS_WD_INIT(&parameters,arg[1],&world);
 
      CreateFileName(NULL,arg[1],NULL,ATLAS_EXT,&fatlas);
      fprintf(stderr,"Reading atlas from       : %s\n",GetFileFullName(&fatlas));
      LoadAtlas(&parameters,&fatlas,&world,&atlas);
      
      if (argc==2)
        collisionFree=FALSE;
      else
        collisionFree=atoi(arg[2]);
 
      v=AtlasVolume(&parameters,collisionFree,&atlas); 
      
      if (collisionFree)
        fprintf(stderr,"Volume of C-free         : %g\n",v);
      else
        fprintf(stderr,"Volume of C              : %g\n",v);
 
      DeleteParameters(&parameters);
 
      CS_WD_DELETE(&world);
 
      DeleteAtlas(&atlas);
 
      DeleteFileName(&fatlas);
      DeleteFileName(&fparam);
    }
 else
   {
     fprintf(stderr,"  Wrong number of parameters.\n");
     fprintf(stderr,"  Use:\n");   
     fprintf(stderr,"      cuikatlasvolume <problem filename> <collisionFree>\n");
     fprintf(stderr,"  where <problem filename> is the atlas.\n");
     fprintf(stderr,"        <collisionFree> [optional] 1 if only the volume of the .\n");
     fprintf(stderr,"                collisionFree part of the atlas is necessary.\n");
     
   }
  return(EXIT_SUCCESS);
}