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75 int main( int argc, char **arg)
79 #if (ATLAS_ON_CUIKSYSTEM)
80 Error( "cuikbioatlastrrt can ony operate on worlds");
100 unsigned int it,nRepetitions;
111 #if (EXPLORATION_RRT)
116 nRepetitions=atoi(arg[2]);
118 Error( "The repetition parameter for cuikbioatlastrrt is wrong");
125 Error( "To get meaninful statistics results, please set GET_ATLASRRT_STATISTICS to 0");
128 Error( "To get meaninful statistics results, please set ATLASRRT_VERBOSE to 0");
140 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
145 Error( "cuikatlastrrt does not deal with bifurcations (yet)");
153 #if (EXPLORATION_RRT)
156 memcpy(s2,s1, sizeof( double)*nvs);
165 fprintf(stderr, "Random seed : %u\n",ri);
170 for(it=0;it<nRepetitions;it++)
173 fprintf(stderr, "************************************************\n");
180 ( void *)&bioWorld,arst,&atlasrrt);
203 fprintf(stderr, " Execution failed (%f sec)\n",planningTime);
207 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
215 fprintf(stderr, "%% **************************************************\n");
216 fprintf(stderr, "Random seed : %u\n",ri);
217 fprintf(stderr, "GlobalCurv: %u Tree_ATLAS: %u\n",
221 #if (GET_ATLASRRT_STATISTICS)
229 fprintf(stderr, "%% **************************************************\n");
247 fprintf(stderr, " Wrong number of parameters.\n");
248 fprintf(stderr, " Use:\n");
249 fprintf(stderr, " cuikbioatlastrrt <problem filename>.world [num Repetitions]\n");
250 fprintf(stderr, " where <problem filename>.pdb the equations/world description\n");
251 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
252 fprintf(stderr, " This is optional.\n");
253 fprintf(stderr, " The '.pab' extension is required\n");
254 fprintf(stderr, " All the extensions managed by OpenBabel can be used\n");
256 return(EXIT_SUCCESS);
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