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planpf.C

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00001 #include <math.h>
00002 #include <stdlib.h>
00003 
00004 #include "rrt.h"
00005 #include "renderpf.h"
00006 #include "guiplanner.h"
00007 #include "setup.h"
00008 #include "defs.h"
00009 
00010 #include <LEDA/REDEFINE_NAMES.h>
00011 
00012 int main(int argc, char *argv[])
00013 {
00014   string path;
00015   GuiPlanner *gui;
00016   Model *m = NULL;
00017   Geom *g = NULL;
00018   Problem *prob;
00019 
00020   if (argc < 2) {
00021     cout << "Usage:    planpf <problem path>\n";
00022     exit(-1);
00023   }
00024 
00025   path = string(argv[1])+"/";
00026 
00027   if (!is_directory(path)) {
00028     cout << "Error:   Directory does not exist\n";
00029     exit(-1);
00030   }
00031 
00032   SetupProblem(m,g,path);
00033   
00034   prob = new Problem(g,m,path);
00035 
00036   gui = new GuiPlanner(new RenderPerformer(new Scene(prob, path), path),
00037                        new RRTConCon(prob));
00038 
00039   gui->Start();
00040 
00041   return 0;
00042 }
00043 
00044 
00045 #include <LEDA/UNDEFINE_NAMES.h>
Motion Strategy Library


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