00001 #include <list.h> 00002 #include <string> 00003 #include <fstream.h> 00004 00005 #include "model3d.h" 00006 #include "model2d.h" 00007 #include "geomPQP.h" 00008 #include "problem.h" 00009 #include "rrt.h" 00010 #include "gui.h" 00011 #include "guiplanner.h" 00012 #include "setup.h" 00013 #include "render.h" 00014 00015 main(int argc, char **argv) 00016 { 00017 string filepath("/home/lavalle/c/mslx/data/car1/"); 00018 00019 Model *m = NULL; 00020 Geom *g = NULL; 00021 Problem *prob; 00022 RRT *rrt; 00023 GuiPlanner *gui; 00024 00025 m = new Model2DRigid(filepath); 00026 g = new GeomPQP2DRigid(filepath); 00027 prob = new Problem(g,m,filepath); // This is the input to a planner 00028 rrt = new RRTConCon(prob); 00029 rrt->Holonomic = true; 00030 rrt->PlannerDeltaT = 0.001; 00031 rrt->NumNodes = 1000; 00032 00033 gui = new GuiPlanner(new Render(new Scene(prob, filepath), filepath), 00034 new RRTConCon(prob)); 00035 00036 00037 gui->Start(); 00038 00039 //rrt->Plan(); 00040 00041 //cout << "Number of nodes: " << rrt->T->Size() << "\n"; 00042 //cout << "Tree 1:\n" << (*rrt->T) << "\n"; 00043 //cout << "Tree 2:\n" << (*rrt->T2) << "\n"; 00044 } 00045