The user can also get some information on the roadmaps built by Move3D (cf Chapter
).
The function void p3d_print_info_graph(p3d_graph *G) prints some info about the graph G : number of nodes, number of configuration generated, number of free configurations obtained, time needed to build this graph, calls to the collision checker, to the bounding box test, to the local method.
The function void p3d_print_graph(p3d_graph *G) printf the number of node of the graphe G, the number of connex composants of this graphe and, for each connex composant, the number of the composant, the number of nodes of this composant, the number of each node of this composant and the number of neighbours of this node.
The user can also get some informations about the current trajectory of the current robot.
The function int p3d_get_traj_ncourbes(void) returns the number of elementary curves contained in the current trajectory. The function voit p3d_get_traj_pos(int i, double *q) returns the i-th configuration on the curve regarding the current discretization step.