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80 int main( int argc, char **arg)
100 unsigned int it,nRepetitions;
108 #if (EXPLORATION_RRT)
109 Error( "cuikcbirrt can not be used in exploration mode (use ccrrt)");
117 nRepetitions=atoi(arg[2]);
119 Error( "Second parameter for cuikcbirrt is wrong");
125 Warning( "To get accurate execution time statistics, set RRT_VERBOSE and GET_RRT_STATISTICS to 0");
137 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
141 Error( "cuikcbirrt do not work for problems with dynamics");
153 fprintf(stderr, "Random seed : %u\n",ri);
158 for(it=0;it<nRepetitions;it++)
161 InitRRT(¶meters, FALSE, FALSE,s1, TWO_TREES, FALSE,s2,nvs,0,&world,&rrt);
162 fprintf(stderr, "**************************************************\n");
165 connected= cBiRRT(¶meters,s2,
195 fprintf(stderr, " Execution failed (%f sec)\n",planningTime);
199 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
207 fprintf(stderr, "%% **************************************************\n");
208 fprintf(stderr, " Random seed : %u\n",ri);
212 #if (GET_RRT_STATISTICS)
220 fprintf(stderr, "%% **************************************************\n");
237 fprintf(stderr, " Wrong number of parameters.\n");
238 fprintf(stderr, " Use:\n");
239 fprintf(stderr, " cuikcbirrt <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
240 fprintf(stderr, " where <problem filename> the equations/world description\n");
241 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
242 fprintf(stderr, " This is optional.\n");
243 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
245 return(EXIT_SUCCESS);
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