Loading...
Searching...
No Matches
SORRTstar.cpp
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2014, University of Toronto
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the University of Toronto nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Authors: Jonathan Gammell */
36
37#include "ompl/geometric/planners/rrt/SORRTstar.h"
38
39ompl::geometric::SORRTstar::SORRTstar(const base::SpaceInformationPtr &si) : InformedRRTstar(si)
40{
41 // Set my name:
42 setName("SORRTstar");
43
44 // Configure InformedRRT* to be SORRT*:
46 setBatchSize(100u);
47
48 // Remove those parameters:
49 params_.remove("use_ordered_sampling");
50}
ParamSet params_
A map from parameter names to parameter instances for this planner. This field is populated by the de...
Definition Planner.h:426
void setName(const std::string &name)
Set the name of the planner.
Definition Planner.cpp:61
InformedRRTstar(const base::SpaceInformationPtr &si)
Constructor.
void setBatchSize(unsigned int batchSize)
Set the batch size used for sample ordering.
Definition RRTstar.h:266
void setOrderedSampling(bool orderSamples)
Controls whether samples are returned in ordered by the heuristic. This is accomplished by generating...
Definition RRTstar.cpp:1069
SORRTstar(const base::SpaceInformationPtr &si)
Constructor.
Definition SORRTstar.cpp:39