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nogui.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 
00021 
00022 #include <list.h>
00023 #include <string>
00024 #include <fstream.h>
00025 
00026 #include <MSL/model3d.h>
00027 #include <MSL/geomPQP.h>
00028 #include <MSL/problem.h>
00029 #include <MSL/rrt.h>
00030 
00031 main(int argc, char **argv)
00032 { 
00033   string filepath("./data");
00034 
00035   Model *m = new Model3DRigid(filepath);
00036   Geom *g = new GeomPQP3DRigid(filepath);
00037   Problem *prob = new Problem(g,m,filepath);
00038   RRTConCon *rrt = new RRTConCon(prob);
00039 
00040   rrt->Holonomic = true;
00041   rrt->PlannerDeltaT = 0.5;
00042   rrt->NumNodes = 1000;
00043 
00044   if (rrt->Plan())
00045     cout << "Solution Path: \n" << rrt->Path << "\n";
00046 
00047 }
00048 
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.