EIRMstar.h

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// Authors: Valentin Hartmann
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EIRMSTAR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EIRMSTAR_
 
#include "ompl/geometric/planners/informedtrees/EITstar.h"
 
namespace ompl
{
    namespace geometric
    {
        class EIRMstar : public EITstar
        {
        public:
            explicit EIRMstar(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo);

            void setStartGoalPruningThreshold(unsigned int threshold);

            unsigned int getStartGoalPruningThreshold() const;
        };
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EIRMSTAR_