Randomized Potential Field README

The following text is the set of basic instructions for use of the Randomized
Potential Fields path planner.

To view detail descriptions of the functions, please see randpfield.h or randpfield.C


Necessary Files:

planrpf.C
randpfield.C
randpfield.h
Makefile
Makefile.config


Usage:

To compile the program put all of the files in the same directory and type
"make".  You may need to edit Makefile to have the programs look into the proper
directory for your files.

Once the program has been compiled type the path of the planrpf file followed by
the directory where data models are stored.  You are then ready to use the
planner.

Tweaking Parameters:

The Randomized Potential Field program allows you to modify parameters by calling
the init function.  It is reccomended that you call init only before calling plan.
The init function takes the following arguments in this order.

numberOfRandomStates - The number of random states to generate when searching for 
 a new state of lowest potential stuckPathSize - The number of states to go back to
 generate the metric to determine if we are stuck.
numberOfBounces - The number of bounces in the bounce walk when stuck.
numberOfBounceSteps - The max number of seteps to take in a bounce walk.
backtrackLength - The number of states to go back when choosing a state to begin 
 the bounce walk from after we are stuck.
stuckRatio - The max ratio of distance traveled over distance from start to end 
 state, used to determine when you are stuck.
translationStepSize - The max translation size when taking a step.
rotationStepSize - The max rotation angle when taking a step.
smoothingIterations - The number of times to go over a holonomic path and smooth it.
forceHolonomic - Force the model to be holonomic