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slide.C

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2001 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 // This includes the core header files of the Motion Strategy Library
00023 #include <MSL/MSL.h>
00024 #include <MSL/rendergl.h>
00025 
00026 // This includes the new model called Model3DRigidHelical
00027 #include "rrtslide.h"
00028 
00029 
00030 int main(int argc, char *argv[])
00031 {
00032   string path;
00033   GuiPlanner *gui;
00034   Model *m = NULL;
00035   Geom *g = NULL;
00036   Problem *prob;
00037 
00038   if (argc < 2) {
00039     cout << "Try this:    slide ../data/cross\n";
00040     exit(-1);
00041   }
00042 
00043   path = string(argv[1])+"/";
00044 
00045   if (!is_directory(path)) {
00046     cout << "Error:   Directory does not exist\n";
00047     exit(-1);
00048   }
00049 
00050   SetupProblem(m,g,path);
00051   prob = new Problem(g,m,path);
00052 
00053   // Initialize everything: Gui, Scene, Render, and RRT
00054   // All of them will use the same file path
00055   gui = new GuiPlanner(new RenderGL(new Scene(prob, path), path),
00056                        new RRTSlide(prob));
00057 
00058   // Activate the GUI
00059   gui->Start();
00060 
00061   return 0;
00062 }
00063 
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.