Motion Strategy Library

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
test.C
