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83 int main( int argc, char **arg)
103 unsigned int it,nRepetitions;
115 nRepetitions=atoi(arg[2]);
117 Error( "Second parameter for cuikccrrt is wrong");
123 Warning( "To get accurate execution time statistics, set RRT_VERBOSE and GET_RRT_STATISTICS to 0");
135 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
139 Error( "cuikccrrt do not work for problems with dynamics");
151 fprintf(stderr, "Random seed : %u\n",ri);
156 for(it=0;it<nRepetitions;it++)
159 InitRRT(¶meters, FALSE, FALSE,s1, ONE_TREE, FALSE,s2,nvs,0,&world,&rrt);
160 fprintf(stderr, "**************************************************\n");
163 connected= ccRRT(¶meters,s2,
193 fprintf(stderr, " Execution failed (%f sec)\n",planningTime);
197 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
205 fprintf(stderr, "%% **************************************************\n");
206 fprintf(stderr, " Random seed : %u\n",ri);
210 #if (GET_RRT_STATISTICS)
218 fprintf(stderr, "%% **************************************************\n");
235 fprintf(stderr, " Wrong number of parameters.\n");
236 fprintf(stderr, " Use:\n");
237 fprintf(stderr, " cuikccrrt <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
238 fprintf(stderr, " where <problem filename> the equations/world description\n");
239 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
240 fprintf(stderr, " This is optional.\n");
241 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
243 return(EXIT_SUCCESS);
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