SORRTstar.cpp
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34 
35 /* Authors: Jonathan Gammell */
36 
37 #include "ompl/geometric/planners/rrt/SORRTstar.h"
38 
40  : InformedRRTstar(si)
41 {
42  //Set my name:
43  setName("SORRTstar");
44 
45  //Configure InformedRRT* to be SORRT*:
46  setOrderedSampling(true);
47  setBatchSize(100u);
48 
49  //Remove those parameters:
50  params_.remove("use_ordered_sampling");
51 }
void setOrderedSampling(bool orderSamples)
Controls whether samples are returned in ordered by the heuristic. This is accomplished by generating...
Definition: RRTstar.cpp:1067
SORRTstar(const base::SpaceInformationPtr &si)
Constructor.
Definition: SORRTstar.cpp:39
void setName(const std::string &name)
Set the name of the planner.
Definition: Planner.cpp:61
ParamSet params_
A map from parameter names to parameter instances for this planner. This field is populated by the de...
Definition: Planner.h:431
void remove(const std::string &name)
Remove a parameter from the set.
A shared pointer wrapper for ompl::base::SpaceInformation.
void setBatchSize(unsigned int batchSize)
Set the batch size used for sample ordering.
Definition: RRTstar.h:268