int main(void) {
CX::initializeCX(CX_InitConfiguation());
runExperiment();
CX::terminateCX();
return 0;
}
int main(int argc, char* argv[])
{
// Turn off logging to std::out. Need the stream for file output.
ompl::msg::noOutputHandler();
// Declare the supported options.
po::options_description desc("Allowed options");
desc.add_options()
("help", "produce help message")
("environment", po::value<std::string>(), "environment name")
("t", po::value<double>(), "stretch factor")
("e", po::value<double>(), "additive error term")
("size", po::value<unsigned int>(), "maximum size of roadmap (bytes)")
("time", po::value<double>(), "maximum time (seconds)")
("witness", po::value<unsigned int>(), "generate (w^2 * w)/2 queries")
("seed", po::value<boost::uint32_t>(), "PRNG seed")
;
po::variables_map vm;
try
{
po::store(po::parse_command_line(argc, argv, desc), vm);
po::notify(vm);
}
catch (boost::program_options::error& e)
{
std::cerr << "Can't process command line arguments: " << e.what() << std::endl;
return 1;
}
if (vm.count("help")) {
std::cerr << desc << "\n";
return 1;
}
const std::string environment = vm["environment"].as<std::string>();
const double stretch = vm["t"].as<double>();
const double epsilon = vm["e"].as<double>();
const unsigned int max_size = vm["size"].as<unsigned int>();
const double max_time = vm["time"].as<double>();
const unsigned int witness_samples = vm["witness"].as<unsigned int>();
const boost::uint32_t seed = vm["seed"].as<boost::uint32_t>();
// =========================================================================
og::SimpleSetup* setup;
if (environment == "point")
setup = setupR2();
else if (environment == "maze")
setup = setupSE2();
else
setup = setupSE3(environment);
// setting collision checking resolution to 1% of the space extent
setup->getSpaceInformation()->setStateValidityCheckingResolution(0.01);
ob::PlannerPtr planner = setupPlanner(setup->getSpaceInformation(), stretch, epsilon);
setup->setPlanner(planner);
setup->setup();
// =========================================================================
runExperiment(planner, max_size, max_time, environment, stretch, epsilon);
}
