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96 int main( int argc, char **arg)
117 unsigned int it,nRepetitions;
125 unsigned int maxIt,execIt;
126 double *times,*costs;
134 nRepetitions=atoi(arg[2]);
136 Error( "Second parameter for cuikrrtstar is wrong");
142 Warning( "To get accurate execution time statistics, set RRT_VERBOSE and GET_RRT_STATISTICS to 0");
154 fprintf(stderr, "Reading parameters from : %s\n", GetFileFullName(&fparam));
158 Error( "cuikrrtstar do not work for problems with dynamics");
174 fprintf(stderr, "Random seed : %u\n",ri);
185 NEW(times,maxIt, double);
186 NEW(costs,maxIt, double);
189 for(it=0;it<nRepetitions;it++)
192 InitRRT(¶meters, TRUE, FALSE,s1,(birrt? TWO_TREES_WITH_SWAP: ONE_TREE),rrtgraph,s2,nvs,0,&world,&rrt);
193 fprintf(stderr, "************************************************\n");
197 connected= RRTstar(¶meters,s2,
199 &planningTime,&pl,&ns,&path,
222 (execIt==maxIt?times:NULL),
223 (execIt==maxIt?costs:NULL),
228 fprintf(stderr, " Execution failed\n");
232 fprintf(stderr, "Execution compleated %u/%u\n",it+1,nRepetitions);
240 fprintf(stderr, "%% **************************************************\n");
241 fprintf(stderr, " Random seed : %u\n",ri);
245 #if (GET_ATLASRRT_STATISTICS)
253 fprintf(stderr, "%% **************************************************\n");
276 fprintf(stderr, " Wrong number of parameters.\n");
277 fprintf(stderr, " Use:\n");
278 fprintf(stderr, " cuikrrtstar <problem filename>.%s [num Repetitions]\n", CS_WD_EXT);
279 fprintf(stderr, " where <problem filename> the equations/world description\n");
280 fprintf(stderr, " <num Repetitions> experiment repetitions to gather statistics\n");
281 fprintf(stderr, " This is optional.\n");
282 fprintf(stderr, " (the '.%s' extension is not required)\n", CS_WD_EXT);
284 return(EXIT_SUCCESS);
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