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 
42 namespace 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 getInitialInflationFactor() const
Get the inflation factor for the initial search.
Definition: ABITstar.cpp:146
double getCurrentTruncationFactor() const
Get the truncation factor for the current search.
Definition: ABITstar.cpp:166
void setInitialInflationFactor(double factor)
Set the inflation factor for the initial search.
Definition: ABITstar.cpp:131
void setInflationScalingParameter(double parameter)
Set the parameter for the inflation factor update policy.
Definition: ABITstar.cpp:136
double getInflationScalingParameter() const
Get the inflation scaling parameter.
Definition: ABITstar.cpp:151
Batch Informed Trees (BIT*)
Definition: BITstar.h:157
void setTruncationScalingParameter(double parameter)
Set the parameter for the truncation factor update policy.
Definition: ABITstar.cpp:141
double getTruncationScalingParameter() const
Get the truncation scaling parameter.
Definition: ABITstar.cpp:156
double getCurrentInflationFactor() const
Get the inflation factor for the current search.
Definition: ABITstar.cpp:161
Main namespace. Contains everything in this library.
Definition: AppBase.h:22