37 #include "ompl/geometric/planners/informedtrees/ABITstar.h"
44 :
ompl::geometric::BITstar(si, name)
47 enableCascadingRewirings(
true);
50 setInitialInflationFactor(1000000.0);
53 setInflationScalingParameter(10.0);
56 setTruncationScalingParameter(5.0);
59 Planner::declareParam<double>(
"initial_inflation_factor",
this, &ABITstar::setInitialInflationFactor,
60 &ABITstar::getInitialInflationFactor,
"1.0:0.01:1000000.0");
61 Planner::declareParam<double>(
"inflation_scaling_parameter",
this, &ABITstar::setInflationScalingParameter,
62 &ABITstar::getInflationScalingParameter,
"1.0:0.01:1000000.0");
63 Planner::declareParam<double>(
"truncation_scaling_parameter",
this, &ABITstar::setTruncationScalingParameter,
64 &ABITstar::getTruncationScalingParameter,
"1.0:0.01:1000000.0");
67 void ABITstar::setInitialInflationFactor(
double factor)
69 BITstar::setInitialInflationFactor(factor);
72 void ABITstar::setInflationScalingParameter(
double factor)
74 BITstar::setInflationScalingParameter(factor);
77 void ABITstar::setTruncationScalingParameter(
double factor)
79 BITstar::setTruncationScalingParameter(factor);
82 double ABITstar::getInitialInflationFactor()
const
84 return BITstar::getInitialInflationFactor();
87 double ABITstar::getInflationScalingParameter()
const
89 return BITstar::getInflationScalingParameter();
92 double ABITstar::getTruncationScalingParameter()
const
94 return BITstar::getTruncationScalingParameter();
97 double ABITstar::getCurrentInflationFactor()
const
99 return BITstar::getCurrentInflationFactor();
102 double ABITstar::getCurrentTruncationFactor()
const
104 return BITstar::getCurrentTruncationFactor();
Main namespace. Contains everything in this library.