Example #1
0
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;    
}
Example #2
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;    
}
Example #3
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;    
}