Assignment 5
CSCI-4290/6290: Robot Motion Planning
Fall 2003

Description

• Assignment 5. Due: November 4, 2003. pdf file.
• Assignment Submission page

FAQ

1. Part 4 and Part 6 describe what you should do for Assignment 5. Part 5 gives some preparatory information on how to create models for Part 6.

2. Eric Griffith has built MSL for Windows. It is available here: MSLwin32.exe .

   You need GLUT32 in order to run this MSL executable. You can download that from http://www.xmission.com/~nate/glut.html and copy the dll and lib files into C:\Windows\system folder. That would enable you to run the MSLWin32. Also, MSLWin32 is a command line..so if you double click on it, you will be probably see nothing. You need to copy the entire data folder and run through command line.

3. To submit your assignment, go to the Assignment Submission page . Please do not submit executables or object files.

   Multiple submissions are permitted. Only the most recent one will be graded. Late days will be computed based on the submission time of the most recent submission.
   

4. The MSL pop-up control panel window sometimes takes a little while to show up -- be patient!
5. On the CS department Suns, when you try to execute one of the executables in the tests directory, you may get an error such as:

   ld.so.1: helical: fatal: libMSL.so: open failed: No such file or
   directory Killed 
   

   You will need to edit your .bashrc file to include the following line:

   export LD_LIBRARY_PATH=/projects/rmp/msl-2.0/lib/
   

   After you have done this, you should run the command:

   $ source ~/.bashrc
   

   That will make sure that this environment variable is set. In the future, your new .bashrc file will be executed when you log in.

   (If the above export does not solve the problem, instead try adding the line:

   export LD_LIBRARY_PATH=/software/msl-2.0-0/pkg/lib/
   

   and repeat the procedure.)

Labs

• You can use the Sun Ultra10 machines in the Sparc Lab in Amos Eaton 217 or the SunRays in Amos Eaton 215. You should already have a CS ID and password to log on to these machines.

• There is an alias that has been created for remote access:
  solaris.remote.cs.rpi.edu
  will connect you to one of 16 computers running Solaris 9. This is the preferred machine name to use if you require remote access to lab machines running Solaris 9. Please do not access machines directly by their name unless you have a compelling reason to be using a specific computer. Certain computers come and go off our network, and reliance on a particular computer may cause you problems later on.

  These machines do not accept unencrypted connections. You should use some version of ssh to connect. If you are connecting from a PC, you can get TeraTerm with SSH extensions from the web page at: http://www.cs.rpi.edu/lab/software .

• Note: The Sparc Labs are usually locked over the weekend. There may be students working in the lab at night or over the weekend -- you can enter and use the lab at any other time if you are able to get in.