cuikkinorrt.c

Go to the documentation of this file.

 
#include "world.h"
#include "parameters.h"
 
#include "defines.h"
#include "error.h"
#include "filename.h"
#include "rrt.h"
#include "random.h"
#include "geom.h"
#include "samples.h"
#include "averages.h"
 
#include <stdlib.h>
#include <string.h>
#include <time.h>
 
int main(int argc, char **arg)
{
  TAtlasBase world;        /* The set of mechanism and obstacles.  */
  Tparameters parameters;  /* Parameters used in the Cuik process. */
 
  Tfilename fparam;
 
  double *s1,*s2;         /* Origin/goal of the RRT. */
 
  unsigned int nvs;
 
  Trrt rrt;
 
  boolean connected;
  double pl;
  unsigned int ns;
  double **path;
  double **actions;
  double *times;
  unsigned int da,dof;
  
  double planningTime;
 
  unsigned int it,nRepetitions;
  Taverages averages;
 
  unsigned int dynamics;
  boolean birrt;
  
  unsigned int ri;
  time_t t;
  Tintegrator *intFunction;
 
  TRRTStatistics *rst;
 
  if (argc>1)
    {
      if (argc>2)
        {
          nRepetitions=atoi(arg[2]);
          if (nRepetitions==0)
            Error("Second parameter for cuikkinorrt is wrong");
        }
      else
        nRepetitions=1;
 
      if ((nRepetitions>1)&&((RRT_VERBOSE)||(GET_RRT_STATISTICS)))
        Warning("To get accurate execution time statistics, set RRT_VERBOSE and GET_RRT_STATISTICS to 0");
 
      if ((GET_RRT_STATISTICS)&&(nRepetitions>1))
        {
          NEW(rst,1,TRRTStatistics);
          InitRRTStatistics(rst);
        }
      else
        rst=NULL;
 
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameters from           : %s\n",GetFileFullName(&fparam));
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
      
      dynamics=(unsigned int)GetParameter(CT_DYNAMICS,&parameters);
      
      switch(dynamics)
        {
        case 0:
        Error("cuikkinorrt operates in problems with dynamics");
          break;
        case 1:
        Error("cuikkinorrt does not operate with local coordinates (only Euler or RK4). Use: cuikatlasrrt");
          break;
        case 2:
          intFunction=NextDynamicStateEuler;
          break;
        case 3:
          intFunction=NextDynamicStateRK4;
          break;
        default:
          Error("Wrong value for parameter DYNAMICS (must be 0..3)");
        }
            
      birrt=(boolean)GetParameter(CT_BI_RRT,&parameters);
      
      dof=(unsigned int)GetParameter(CT_N_DOF,&parameters);
      
      /*Read the world from file*/
      CS_WD_INIT(&parameters,arg[1],&world);
 
      /* Read samples */
      nvs=ReadTwoSamples(&parameters,arg[1],CS_WD_GET_NUM_SYSTEM_VARS(&world),&s1,&s2);
 
      /* Random seed initialization */
      t=time(NULL);  /* Get the time at which input files have been read */
      ri=(unsigned int)t;
      randomSet(ri);
      fprintf(stderr,"Random seed                       : %u\n",ri);
 
      /* Start the process to connect the two samples */
      InitAverages(nRepetitions,FALSE,TRUE,NO_UINT,&averages);
 
      for(it=0;it<nRepetitions;it++)
        {
          /* Init an RRT */
          InitRRT(&parameters,FALSE,FALSE,s1,(birrt?TWO_TREES:ONE_TREE),FALSE,s2,nvs,dof/2,&world,&rrt);
          fprintf(stderr,"**************************************************\n");
 
          /* Try to connect the goal with a tree from the start */
          if (birrt)
            connected=kinobiRRT(&parameters,intFunction,s2,
                                &planningTime,
                                &pl,&ns,&path,
                                &da,&actions,&times,
                                rst,&world,&rrt);
          else
            connected=kinoRRT(&parameters,intFunction,s2,
                              &planningTime,
                              &pl,&ns,&path,
                              &da,&actions,&times,
                              rst,&world,&rrt);
 
          /* Save the results (only if one shot execution) */
          if (nRepetitions==1)
            {
              Tfilename frrt;
 
              if (connected)
                SaveTrajectory(arg[1],FALSE,nvs,ns,path,da,actions,times);
 
              CreateFileName(NULL,arg[1],NULL,RRT_EXT,&frrt);
              fprintf(stderr,"Writing RRT to                    : %s\n",GetFileFullName(&frrt));
              SaveRRT(&frrt,&rrt);
              DeleteFileName(&frrt);
            }
 
          /* Summarize and release allocated objects for this repetition*/
          if (connected)
            {
              NewSuccesfulExperiment(planningTime,RRTMemSize(&rrt),pl,0,
                                     NO_UINT,
                                     (double)GetRRTNumNodes(&rrt),
                                     NULL,NULL,
                                     &averages);
              DeleteSamples(ns,path);
            }
          else
            fprintf(stderr,"  Execution failed (%f sec)\n",planningTime);
 
          DeleteRRT(&rrt);
 
          fprintf(stderr,"Execution compleated %u/%u\n",it+1,nRepetitions);
        }
 
      /* Print statistics about the execution (only if many iterations) */
      if (nRepetitions>1)
        {
          PrintAveragesHeader(stderr,argc,arg,&averages);
 
          fprintf(stderr,"%% **************************************************\n");
          fprintf(stderr,"   Random seed : %u\n",ri);
          PrintRRTDefines(stderr);
          PrintParameters(stderr,&parameters);
 
          #if (GET_RRT_STATISTICS)
            PrintRRTStatistics(NULL,rst);
            DeleteRRTStatistics(rst);
            free(rst);
          #endif
 
          PrintAverages(stderr,&averages);
 
          fprintf(stderr,"%% **************************************************\n");
        }
 
      /* Release memory */
      DeleteAverages(&averages);
 
      free(s1);
      free(s2);
 
      DeleteParameters(&parameters);
 
      CS_WD_DELETE(&world);
 
      DeleteFileName(&fparam);
    }
  else
    {
      fprintf(stderr,"  Wrong number of parameters.\n");
      fprintf(stderr,"  Use:\n");
      fprintf(stderr,"      cuikkinorrt <problem filename>.%s [num Repetitions]\n",CS_WD_EXT);
      fprintf(stderr,"  where <problem filename> the equations/world description\n");
      fprintf(stderr,"        <num Repetitions> experiment repetitions to gather statistics\n");
      fprintf(stderr,"                          This is optional.\n");
      fprintf(stderr,"    (the '.%s' extension is not required)\n",CS_WD_EXT);
    }
  return(EXIT_SUCCESS);
}