cuikmove.c

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#include "cuikmove.h"
 
#include "world.h"
#include "interval.h"
#include "defines.h"
#include "error.h"
 
#include "cuikmove_interface.h"
#include "cuikplay_support.h"
 
#include <gtk/gtk.h>
 
#include <string.h>
#include <unistd.h>
#include <time.h>
 
int main(int argc, char **arg)
{
  
  if (argc>1)
    {
      Tworld world;
      Tparameters parameters;
 
      Tfilename fparam;
      Tfilename fworld;
 
      Tplot3d pt;
      double axesLength;
 
      TCuikMoveControl status;
      Tinterval range;
      unsigned int i;
 
      unsigned int accuracy,rep;
      boolean dynamics;
 
      GtkWidget *window_cuikmove;
 
      FILE *initFile;
      
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      rep=(unsigned int)(GetParameter(CT_REPRESENTATION,&parameters));
      if (rep!=REP_JOINTS)
        {
          Warning("Changing the representation to joints (this may cause problems if the world includes user-defined equations)");
          ChangeParameter(CT_REPRESENTATION,(double)REP_JOINTS,&parameters);
        }
 
      dynamics=(GetParameter(CT_DYNAMICS,&parameters)>0.5);
      if (dynamics)
        ChangeParameter(CT_DYNAMICS,0,&parameters);
      
      CreateFileName(NULL,arg[1],NULL,WORLD_EXT,&fworld);
      InitWorldFromFile(&parameters,TRUE,TRUE,arg[1],&world);
 
      if (argc>2)
        {
          Tfilename finput;
 
          CreateFileName(NULL,arg[2],NULL,JOINTS_EXT,&finput);
          initFile=fopen(GetFileFullName(&finput),"r");
          DeleteFileName(&finput);
        }
      else
        initFile=NULL;
 
      if (argc>3)
        axesLength=atof(arg[3]);
      else
        axesLength=0.0;
 
      if (argc>4)
        accuracy=atoi(arg[4]);
      else
        accuracy=3; /* about one 10th of a degree */
 
 
      status.ndof=GetWorldNDOF(&world);
      status.accuracy=accuracy;
      status.changed=TRUE;
      status.end=FALSE;
      NEW(status.min,status.ndof,double);
      NEW(status.max,status.ndof,double);
      NEW(status.dof,status.ndof,double);
      NEW(status.shown,status.ndof,boolean);
      status.nShown=0;
      for(i=0;i<status.ndof;i++)
        {
          GetWorldRangeDOF(i,&range,&world);
          status.min[i]=LowerLimit(&range);
          if (initFile==NULL)
            status.dof[i]=IntervalCenter(&range);
          else
            fscanf(initFile,"%lf",&(status.dof[i]));
          status.max[i]=UpperLimit(&range);
          status.shown[i]=(IntervalSize(&range)>ZERO);
          if (status.shown[i]) status.nShown++;
          DeleteInterval(&range);
        }
      status.p=&parameters;
      status.w=&world;
      status.fw=GetFileBaseName(&fworld);
      status.dynamics=dynamics;
      
      if (initFile!=NULL)
        fclose(initFile);
 
      gtk_disable_setlocale();
      gtk_init(&argc,&arg);
      
      window_cuikmove=create_window_cuikmove((gpointer)(&status));
      gtk_widget_show(window_cuikmove);
 
      InitPlot3d(NULL,FALSE,argc,arg,&pt);
      PlotWorld(&parameters,&pt,axesLength,&world); /* This initializes collision detection */
      MoveWorldDOF(&parameters,&pt,status.dof,&world);
      LookPlot3d(&pt);
      status.changed=FALSE;
      
      while(!status.end)
        {
          if (status.changed)
            {         
              MoveWorldDOF(&parameters,&pt,status.dof,&world);
              status.changed=FALSE;
            }
 
          gtk_main_iteration_do(FALSE);
        }
 
      ClosePlot3d(TRUE,&pt);
      
      free(status.min);
      free(status.max);
      free(status.dof);
      free(status.shown);
 
      DeleteWorld(&world);
      DeleteParameters(&parameters);
 
      DeleteFileName(&fworld);    
      DeleteFileName(&fparam);
    }
  else
    {
      fprintf(stdout,"  Wrong number of parameters.\n");
      fprintf(stdout,"  Use:\n");
      fprintf(stdout,"     cuikmove <world>.world [<initFile>.dof <axes> <accuracy>]\n");
      fprintf(stdout,"  Where:\n");
      fprintf(stdout,"     <world>:  File describing the problem\n");
      fprintf(stdout,"     <initFile>: Optional. File from where to read the initial joint values.\n");
      fprintf(stdout,"     <axes>: Optional. Length for the axes for each link.\n");
      fprintf(stdout,"             The default value is 0, i.e., not to display them.\n");
      fprintf(stdout,"     <accurary>: Optional. Size of each step in each DOF");
      fprintf(stdout,"                 (in decimal digits).\n");
      fprintf(stdout,"                 The default value is 3.\n");
      fprintf(stdout,"  File extensions are not required\n");
    }
    
  return(EXIT_SUCCESS);
}