int main(int argc, char **argv)
{
PseudoRandomSeed();
if(argc < 3)
{
printf("missing arguments\n");
printf(" MotionPlanner <scene.txt> <time>\n");
printf("where\n");
printf(" <scene.txt> is one of the provided scene files\n");
printf(" <time> is the maximum running time (in seconds) for the motion planner\n");
return 0;
}
Simulator sim(argv[1]);
MotionPlanner mp(&sim);
Graphics graphics(&mp);
graphics.SetMotionPlannerMaxTime(atof(argv[2]));
graphics.HandleEventOnHelp();
graphics.MainLoop();
return 0;
}
int main(int argc, char **argv)
{
PseudoRandomSeed();
dInitODE();
//create simulator and set robot position at (0, -8)
Simulator sim(0, -8);
//create motion planner
MotionPlanner mp(&sim);
//create graphics
Graphics graphics(&mp);
//create obstacles and terrain
CreateWorld1(&sim);
//if argument specified, set as maximum motion planning time
if(argc > 1)
graphics.SetMotionPlannerMaxTime(atof(argv[1]));
//print help messages
graphics.HandleEventOnHelp();
//enter event loop
graphics.MainLoop();
return 0;
}
int main(int argc, char **argv)
{
PseudoRandomSeed();
if(argc < 2)
{
printf("missing arguments\n");
printf(" Planner <file>\n");
return 0;
}
Graphics graphics(argv[1]);
graphics.MainLoop();
return 0;
}