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87 int main( int argc, char **arg)
110 unsigned int dynamics;
113 unsigned int it,nRepetitions;
126 nRepetitions=atoi(arg[2]);
128 Error( "Second parameter for cuikkinoest is wrong");
134 Warning( "To get accurate execution time statistics, set RRT_VERBOSE and GET_RRT_STATISTICS to 0");
146 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
154 Error( "cuikkinorrt operates in problems with dynamics");
157 Error( "cuikkinorrt does not operate with local coordinates (only Euler or RK4). Use: cuikatlasrrt");
166 Error( "Wrong value for parameter DYNAMICS (must be 0..3)");
171 Error( "bi-EST is not implemented yet");
185 fprintf(stderr, "Random seed : %u\n",ri);
190 for(it=0;it<nRepetitions;it++)
193 InitRRT(¶meters, FALSE, FALSE,s1,(birrt? TWO_TREES: ONE_TREE), FALSE,s2,nvs,dof/2,&world,&rrt);
194 fprintf(stderr, "**************************************************\n");
198 Error( "bi-EST is not implemented yet");
200 connected= kinoEST(¶meters,intFunction,s2,
231 fprintf(stderr, " Execution failed (%f sec)\n",planningTime);
235 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
243 fprintf(stderr, "%% **************************************************\n");
244 fprintf(stderr, " Random seed : %u\n",ri);
248 #if (GET_RRT_STATISTICS)
256 fprintf(stderr, "%% **************************************************\n");
273 fprintf(stderr, " Wrong number of parameters.\n");
274 fprintf(stderr, " Use:\n");
275 fprintf(stderr, " cuikkinoest <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
276 fprintf(stderr, " where <problem filename> the equations/world description\n");
277 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
278 fprintf(stderr, " This is optional.\n");
279 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
281 return(EXIT_SUCCESS);
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