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planleda.C

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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 "guiplanner.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   GuiPlanner *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 GuiPlanner(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>
Motion Strategy Library


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.