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