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mainHomotopy.cpp
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mainHomotopy.cpp
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#include "gui/QtVisualizer.h"
#include "gui/PathEvaluation.h"
#include "base/PlannerSettings.h"
#include "planners/AStar.hpp"
namespace og = ompl::geometric;
int main(int argc, char **argv)
{
PathEvaluation::initialize();
PlannerSettings::steeringType = Steering::STEER_TYPE_REEDS_SHEPP;
PlannerSettings::CarTurningRadius = 3.5;
PlannerSettings::initializeSteering();
PlannerSettings::VisualizeSmoothing1 = false;
PlannerSettings::VisualizeSmoothing2 = false;
PlannerSettings::VisualizeSmoothing3 = false;
PlannerSettings::VisualizeSmoothing4 = false;
PathStatisticsAggregator statsAggregator{};
QtVisualizer::initialize();
PlannerSettings::environment = Environment::createRandom(
Environment::DefaultWidth, Environment::DefaultHeight, 0.1, 1234);
PlannerSettings::environment->setStart(Tpoint(2, 12));
PlannerSettings::environment->setGoal(Tpoint(Environment::DefaultWidth-1, Environment::DefaultHeight-12));
QtVisualizer::visualize(*PlannerSettings::environment, 0);
statsAggregator.add(PathEvaluation::add(new ThetaStar, "Theta*", Qt::black));
statsAggregator.add(PathEvaluation::add(new AStar, "A*", Qt::gray));
QtVisualizer::show();
statsAggregator.showSummary();
return QtVisualizer::exec();
}