Assignment 2
CSCI-4290/6290: Robot Motion Planning
Fall 2005
FAQ
Updated 7:20pm, October 3, 2005.
- Kartik has made his convex hull code
available. (It is intended as a replacement
for CGAL's convex hull code if you are having trouble getting CGAL to
work for you.) Please see this readme .
Note: This is for any optional interesting parts you want to add to
your assignment.
- Here are some examples to test your Assignment 2 code.
- If you still have any issues getting your code to run on Windows,
please contact Kartik TODAY (Thursday, Sept 29) and resolve
them. Otherwise you may not have enough time to complete your assignment.
- Owing to the various issues with dolt that some of you have
encountered, the Assignment 2 due date is changed to 11:59pm on
Monday, October 3 .
- Kartik has suggested that it will be fine if your Assignment 2
submission compiles and works fine on either the CS FreeBSD machines
or a Windows machine. The most important thing at this point is for
you to first get your program working.
- Here are some suggestions from Kartik.
- 1) Use gmake on FreeBSD machines instead of make.
- 2) On FreeBSD machines, use my modified Makefile *WITHOUT* any changes. Do not
change paths etc. The libraries are already precompiled and everyone has
read access to them.
- 3) Remote users may not be able to receive forwarded X-connections (on
Linux/Unix/OSX) and definitely not on Windows. Use the Remote logins to
verify that your code compiles, I dont recommend coding remotely.
- 4) Dolt for windows: Windows Users. See this dolt_rmp.zip file . Detailed instructions for the dolt
corrections are in the README.txt file. Read this file, copy the new
glut.h in the correct location and then compile. Note that VS.NET has
compilation issues with glut... hence the changes.
- In addition to the methods for line segment intersection we
discussed in class, you can refer to the method described in Chapter
33 of Introduction to Algorithms , second edition, by
Cormen, Leiserson, Rivest, and Stein, McGraw Hill/MIT Press, 2001. (Or
Chapter 35 of the first edition.)
- Here is the most recent version of dolt: dolt-0.97b.tgz (released 4/03/2004).
- For those of you trying to install dolt under Linux, you may find
it helpful to see some notes on this by Prof Huang.
Description
Please contact the TA for the course,
at babuk@cs.rpi.edu
if you have questions regarding the support code or use of dolt.
dolt
You will use the
drawableObject Library (dolt) to display your results. dolt was
created by Wes Huang and Kris Beevers at RPI specifically as a tool for creating small
simulations and for generating figures and demonstrations. dolt makes
use of the GLUT OpenGL graphics library and requires the library to be
installed. Optionally, it can also be used in conjunction with the
Computational Geometry Algorithms Library (CGAL)
, though CGAL is not
required for use of dolt.
(If you plan to install dolt on your personal machine, go
here for information on dolt installation and to download dolt source code.)
Getting the Assignment 2 support code working
You will need the following libraries:
You may find it helpful to first get the support code working on the
FreeBSD machines using this modified Makefile
that Kartik has created.
Program specifications
- Here are the specifications for your program. It will be given an
input file as a command line argument. The input file lists the files
describing the workspace environment and the robot, as well as the
initial and goal configurations, as below:
% assign2 inputproblemfilename
For example, the input file may be
Problem1.txt (from assign2code.tar).
Your program should output the length of the shortest path and the
coordinates of the vertices on the shortest path to the screen, as per
the format in the sample code.
- Your code must compile and run on the FreeBSD machines in Amos Eaton 217 (see below).
Labs
Important: Please save your submitted assignment files
(without modifying them) until your assignment has been graded.
Back to the course home page
Srinivas Akella
Email: sakella@cs.rpi.edu