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ABITstar.h
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34
35/* Authors: Marlin Strub */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_ABITSTAR_
38#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_ABITSTAR_
39
40#include "ompl/geometric/planners/informedtrees/BITstar.h"
41
42namespace ompl
43{
44 namespace geometric
45 {
86 class ABITstar : public ompl::geometric::BITstar
87 {
88 public:
89 /* \brief Construct with a pointer to the space information and an optional name. */
90 ABITstar(const base::SpaceInformationPtr &spaceInfo, const std::string &name = "ABITstar");
91
92 /* \brief Destruct using the default destructor. */
93 virtual ~ABITstar() override = default;
94
96 void setInitialInflationFactor(double factor);
97
99 void setInflationScalingParameter(double parameter);
100
102 void setTruncationScalingParameter(double parameter);
103
105 double getInitialInflationFactor() const;
106
108 double getInflationScalingParameter() const;
109
111 double getTruncationScalingParameter() const;
112
114 double getCurrentInflationFactor() const;
115
117 double getCurrentTruncationFactor() const;
118 };
119
120 } // namespace geometric
121
122} // namespace ompl
123
124#endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_ABITSTAR_
double getCurrentInflationFactor() const
Get the inflation factor for the current search.
Definition ABITstar.cpp:97
double getCurrentTruncationFactor() const
Get the truncation factor for the current search.
Definition ABITstar.cpp:102
double getInflationScalingParameter() const
Get the inflation scaling parameter.
Definition ABITstar.cpp:87
void setInitialInflationFactor(double factor)
Set the inflation factor for the initial search.
Definition ABITstar.cpp:67
double getTruncationScalingParameter() const
Get the truncation scaling parameter.
Definition ABITstar.cpp:92
double getInitialInflationFactor() const
Get the inflation factor for the initial search.
Definition ABITstar.cpp:82
void setTruncationScalingParameter(double parameter)
Set the parameter for the truncation factor update policy.
Definition ABITstar.cpp:77
void setInflationScalingParameter(double parameter)
Set the parameter for the inflation factor update policy.
Definition ABITstar.cpp:72
Batch Informed Trees (BIT*)
Definition BITstar.h:93
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.