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