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planiv.C

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


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
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