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helical1.C

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00001 #include <math.h>
00002 #include <stdlib.h>
00003 
00004 // This includes all of the header files of the Motion Strategy Library
00005 #include <MSL/MSL.h>
00006 
00007 // This includes the new model called Model3DRigidHelical
00008 #include "modelnew.h"
00009 
00010 // The next include should appear before the actual code in a file using LEDA.
00011 // It locally uses short names like vector, list, etc., but does not cause
00012 // name conflicts globally, assuming the last line UNDEFINE's the names.
00013 #include <LEDA/REDEFINE_NAMES.h>
00014 
00015 int main(int argc, char *argv[])
00016 {
00017   string path;
00018   GuiPlanner *gui;
00019   Model *m = NULL;
00020   Geom *g = NULL;
00021   Problem *prob;
00022 
00023   if (argc < 2) {
00024     cout << "Try this:    test helical\n";
00025     exit(-1);
00026   }
00027 
00028   path = string(argv[1])+"/";
00029 
00030   if (!is_directory(path)) {
00031     cout << "Error:   Directory does not exist\n";
00032     exit(-1);
00033   }
00034 
00035   m = new Model3DRigidHelical(path); // Define the differential model
00036   g = new GeomPQP3DRigid(path); // Use PQP and 3D triangle representations
00037   prob = new Problem(g,m,path); // This is the input to a planner
00038 
00039   // Initialize everything: Gui, Scene, Render, and RRT
00040   // All of them will use the same file path
00041   gui = new GuiPlanner(new RenderGL(new Scene(prob, path), path),
00042                    new RRTConCon(prob));
00043 
00044   // Activate the GUI
00045   gui->Start();
00046 
00047   return 0;
00048 }
00049 
00050 
00051 // Undefine the short leda names (e.g., vector now becomes leda_vector)
00052 
00053 #include <LEDA/UNDEFINE_NAMES.h>
Motion Strategy Library


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