ABITstar.cpp
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34 
35 /* Authors: Marlin Strub */
36 
37 #include "ompl/geometric/planners/informedtrees/ABITstar.h"
38 
39 namespace ompl
40 {
41  namespace geometric
42  {
43  ABITstar::ABITstar(const ompl::base::SpaceInformationPtr &si, const std::string &name /*= "ABITstar"*/)
44  : ompl::geometric::BITstar(si, name)
45  {
46  // Enable cascading rewirings.
47  enableCascadingRewirings(true);
48 
49  // Set the default initial inflation factor to very high.
50  setInitialInflationFactor(1000000.0);
51 
52  // Set the default inflation factor parameter to something reasonable.
53  setInflationScalingParameter(10.0);
54 
55  // Set the default truncation factor parameter to something reasonable.
56  setTruncationScalingParameter(5.0);
57 
58  // Declare the planner parameters.
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");
65  }
66 
67  void ABITstar::setInitialInflationFactor(double factor)
68  {
69  BITstar::setInitialInflationFactor(factor);
70  }
71 
72  void ABITstar::setInflationScalingParameter(double factor)
73  {
74  BITstar::setInflationScalingParameter(factor);
75  }
76 
77  void ABITstar::setTruncationScalingParameter(double factor)
78  {
79  BITstar::setTruncationScalingParameter(factor);
80  }
81 
82  double ABITstar::getInitialInflationFactor() const
83  {
84  return BITstar::getInitialInflationFactor();
85  }
86 
87  double ABITstar::getInflationScalingParameter() const
88  {
89  return BITstar::getInflationScalingParameter();
90  }
91 
92  double ABITstar::getTruncationScalingParameter() const
93  {
94  return BITstar::getTruncationScalingParameter();
95  }
96 
97  double ABITstar::getCurrentInflationFactor() const
98  {
99  return BITstar::getCurrentInflationFactor();
100  }
101 
102  double ABITstar::getCurrentTruncationFactor() const
103  {
104  return BITstar::getCurrentTruncationFactor();
105  }
106 
107  } // namespace geometric
108 
109 } // namespace ompl
A shared pointer wrapper for ompl::base::SpaceInformation.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22