00001 //---------------------------------------------------------------------- 00002 // The Motion Strategy Library (MSL) 00003 //---------------------------------------------------------------------- 00004 // 00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle. 00006 // All Rights Reserved. 00007 // 00008 // Permission to use, copy, and distribute this software and its 00009 // documentation is hereby granted free of charge, provided that 00010 // (1) it is not a component of a commercial product, and 00011 // (2) this notice appears in all copies of the software and 00012 // related documentation. 00013 // 00014 // Iowa State University and the author make no representations 00015 // about the suitability or fitness of this software for any purpose. 00016 // It is provided "as is" without express or implied warranty. 00017 //---------------------------------------------------------------------- 00018 00019 #include <math.h> 00020 #include <stdlib.h> 00021 00022 #include "rrt.h" 00023 #include "renderleda.h" 00024 #include "guirrt.h" 00025 #include "setup.h" 00026 #include "defs.h" 00027 00028 #include <LEDA/REDEFINE_NAMES.h> 00029 00030 00031 int main(int argc, char *argv[]) 00032 { 00033 string path; 00034 GuiRRT *gui; 00035 00036 Model *m; 00037 Geom *g; 00038 Problem *prob; 00039 00040 if (argc < 2) { 00041 cout << "Usage: rrtleda <problem path>\n"; 00042 exit(-1); 00043 } 00044 00045 path = string(argv[1])+"/"; 00046 00047 if (!is_directory(path)) { 00048 cout << "Error: Directory does not exist\n"; 00049 exit(-1); 00050 } 00051 00052 SetupProblem(m,g,path); 00053 00054 prob = new Problem(g,m,path); 00055 00056 gui = new GuiRRT(new RenderLeda(new Scene(prob, path), path), 00057 new RRTConCon(prob)); 00058 00059 gui->Start(); 00060 00061 return 0; 00062 } 00063 00064 00065 00066 #include <LEDA/UNDEFINE_NAMES.h>