cuikrrtnodes.c

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#include "world.h"
#include "parameters.h"
 
#include "defines.h"
#include "error.h"
#include "filename.h"
#include "rrt.h"
 
#include <stdlib.h>
 
int main(int argc, char **arg)
{
  TAtlasBase world;        /* The set of mechanism and obstacles.  */
  Tparameters parameters;  /* Parameters used in the Cuik process. */
  Trrt rrt;                /* The rrt to process. */
 
  Tfilename fparam;
  Tfilename frrt;
 
  boolean withDummies;
  
  if (argc>1)
    { 
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      fprintf(stderr,"Reading parameters from           : %s\n",GetFileFullName(&fparam));
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      /*Read the world/cuik from file*/
      CS_WD_INIT(&parameters,arg[1],&world);
 
      CreateFileName(NULL,arg[1],NULL,RRT_EXT,&frrt);
      fprintf(stderr,"Reading rrt from                  : %s\n",GetFileFullName(&frrt));
 
      LoadRRT(&parameters,&frrt,&world,&rrt);
    
      if (argc>2)
        withDummies=atoi(arg[2]);
      else
        withDummies=FALSE;
 
      SaveRRTNodes(&parameters,arg[1],withDummies,&rrt);
      
      DeleteParameters(&parameters);
 
      CS_WD_DELETE(&world);
      DeleteRRT(&rrt);
 
      DeleteFileName(&frrt);
      DeleteFileName(&fparam);
    }
 else
   {
     fprintf(stderr,"  Wrong number of parameters.\n");
     fprintf(stderr,"  Use:\n");   
     fprintf(stderr,"      cuikrrtnodes <problem filename>.%s [dummies]\n",CS_WD_EXT);
     fprintf(stderr,"  where <problem filename> is the RRT with the nodes to extract.\n");
     fprintf(stderr,"        [dummies] is 1 if you want the dummy variables in the output.\n");
     fprintf(stderr,"                  This is only necessary if you plan to unsimplify the\n");
     fprintf(stderr,"                  output points (default 0).\n");
     
   }
  return(EXIT_SUCCESS);
}