cuikkinorrt.c File Reference

Introduction

Defines a kinodynamic RRT on a manifold using the method proposed in

• S. LaValle and J. Kuffner, Randomiezed Kynodynamic Planning International Journal of Robotics Research, Vol 20, N. 5, 2001.

See also

world.h world.c cuikplan.c

Definition in file cuikkinorrt.c.

Functions
int	main (int argc, char **arg)
	Main body of the cuikkinorrt application. More...

Function Documentation

main()

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikkinorrt application.

Defines a kinodynamic RRT using the method described in

• S. LaValle and J. Kuffner, Randomiezed Kynodynamic Planning International Journal of Robotics Research, Vol 20, N. 5, 2001.

This method only uses the differential constraints (even converting the holonomic constraints to its differencial form) and, thus, it does not exploit the underlaying manifold structure. Different integration methods (Euler, RK4) provide different accuracy as far as error w.r.t. the manifold. However, they all accumulate error in the long term.

Use:

• cuikkinorrt problem_name.world

where

• problem_name contains the world information, including the mechanism and the obstacles. The name is also used to read the sample file including the origin/goal poses.

The .world extension is optional.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuikkinorrt command itself and its arguments).
arg	Strings with the arguments.

Returns

EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 87 of file cuikkinorrt.c.

References CreateFileName(), CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, CT_BI_RRT, CT_DYNAMICS, CT_N_DOF, DeleteAverages(), DeleteFileName(), DeleteParameters(), DeleteRRT(), DeleteRRTStatistics(), DeleteSamples(), Error(), FALSE, GET_RRT_STATISTICS, GetFileFullName(), GetParameter(), GetRRTNumNodes(), InitAverages(), InitParametersFromFile(), InitRRT(), InitRRTStatistics(), kinobiRRT(), kinoRRT(), NEW, NewSuccesfulExperiment(), NextDynamicStateEuler(), NextDynamicStateRK4(), NO_UINT, ONE_TREE, PARAM_EXT, PrintAverages(), PrintAveragesHeader(), PrintParameters(), PrintRRTDefines(), PrintRRTStatistics(), randomSet(), ReadTwoSamples(), RRT_EXT, RRT_VERBOSE, RRTMemSize(), SaveRRT(), SaveTrajectory(), TRUE, TWO_TREES, and Warning().