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85 int main( int argc, char **arg)
105 unsigned int it,nRepetitions;
117 nRepetitions=atoi(arg[2]);
119 Error( "Second parameter for cuikcctrrt 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( "cuikcctrrt do not work for problems with dynamics");
147 #if (EXPLORATION_RRT)
150 memcpy(s2,s1, sizeof( double)*nvs);
159 fprintf(stderr, "Random seed : %u\n",ri);
164 for(it=0;it<nRepetitions;it++)
167 InitRRT(¶meters, FALSE, FALSE,s1, ONE_TREE, FALSE,s2,nvs,0,&world,&rrt);
168 fprintf(stderr, "************************************************\n");
171 connected= ccTRRT(¶meters,s2,
181 #if (!EXPLORATION_RRT)
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);
220 #if (GET_RRT_STATISTICS)
228 fprintf(stderr, "%% **************************************************\n");
245 fprintf(stderr, " Wrong number of parameters.\n");
246 fprintf(stderr, " Use:\n");
247 fprintf(stderr, " cuikcctrrt <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
248 fprintf(stderr, " where <problem filename> the equations/world description\n");
249 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
250 fprintf(stderr, " This is optional.\n");
251 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
253 return(EXIT_SUCCESS);
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