cuikminimize.c

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#include "world.h"
#include "atlas.h"
#include "filename.h"
#include "samples.h"
#include "error.h"
#include "parameters.h"
 
#include <stdlib.h>
#include <string.h>
#include <time.h>
 
int main(int argc, char **arg)
{      
  if (argc>1)
    { 
      Tworld world;            /* The tensegrity description. */
      Tatlas atlas;            /* The atlas defined during minimization. */
      Tparameters parameters;  /* Parameters used in the Cuik process. */
 
      Tfilename fparam;
      Tfilename fatlas;
  
      double *s1;              /* Starting point for the minimization. */
 
      unsigned int maxIterations;
      
      TAtlasBase ab;
      
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameters from           : %s\n",GetFileFullName(&fparam));          
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      if (GetParameter(CT_DYNAMICS,&parameters)>0)
        Error("cuikminimize do not work (yet) for problems with dynamics");
      
      /*Init the world (tensegrity only)*/
      if (!InitTensegrityFromFile(&parameters,arg[1],&world))
        Error("Can not open the tensegrity file");
      CS_WD_FROM_WORLD(&world,&ab);
 
      /* Read the start sample */
      ReadOneSample(&parameters,arg[1],CS_WD_GET_NUM_SYSTEM_VARS(&ab),&s1);
 
      if (argc>2)
        {
          maxIterations=atoi(arg[2]);
          if (maxIterations==0)
            Error("Wrong maximum number of iterations");
        }
      else
        maxIterations=1000;
      fprintf(stderr,"Number of iterations              : %u\n",maxIterations);
      
      /* Minimize */
      MinimizeOnAtlas(&parameters,arg[1],s1,&ab,maxIterations,
                      WorldPotentialEnergy,
                      WorldForceField,
                      (void *)(&world),&atlas);
      
 
      /* Save the results (the tracked paths are already saved in MinimizeOnAtlas) */
      CreateFileName(NULL,arg[1],NULL,ATLAS_EXT,&fatlas);
      fprintf(stderr,"Writing atlas to                  : %s\n",GetFileFullName(&fatlas));
      SaveAtlas(&parameters,&fatlas,&atlas);
 
      /* Release memory */
      free(s1);
      DeleteAtlas(&atlas);
      DeleteParameters(&parameters);
      DeleteWorld(&world);
 
      DeleteFileName(&fparam);
      DeleteFileName(&fatlas);
    }
 else
   {
     fprintf(stderr,"  Wrong number of parameters.\n");
     fprintf(stderr,"  Use:\n");   
     fprintf(stderr,"      cuikminimize <problem filename>.tens [max iterations]\n");
     fprintf(stderr,"  where <problem filename>.tens contains the tensegrity description\n");
     fprintf(stderr,"        [max iterations] is the optional maximum number of iterations\n");
     fprintf(stderr,"                         The default is 1000\n");
     fprintf(stderr,"  The extension for the problem file (ex. tens) is not required.\n");
   }
  return(EXIT_SUCCESS);
}