ABITstar.h

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/* Authors: Marlin Strub */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_ABITSTAR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_ABITSTAR_
 
#include "ompl/geometric/planners/informedtrees/BITstar.h"
 
namespace ompl
{
    namespace geometric
    {
        class ABITstar : public ompl::geometric::BITstar
        {
        public:
            /* \brief Construct with a pointer to the space information and an optional name. */
            ABITstar(const base::SpaceInformationPtr &spaceInfo, const std::string &name = "ABITstar");
 
            /* \brief Destruct using the default destructor. */
            virtual ~ABITstar() override = default;

            void setInitialInflationFactor(double factor);

            void setInflationScalingParameter(double parameter);

            void setTruncationScalingParameter(double parameter);

            double getInitialInflationFactor() const;

            double getInflationScalingParameter() const;

            double getTruncationScalingParameter() const;

            double getCurrentInflationFactor() const;

            double getCurrentTruncationFactor() const;
        };
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_ABITSTAR_