InformedRRTstar.cpp

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/* Authors: Jonathan Gammell */
 
#include "ompl/geometric/planners/rrt/InformedRRTstar.h"
 
ompl::geometric::InformedRRTstar::InformedRRTstar(const base::SpaceInformationPtr &si) : RRTstar(si)
{
    // Set my name:
    setName("InformedRRTstar");
 
    // Configure RRTstar to be InformedRRT*:
    setAdmissibleCostToCome(true);
    setInformedSampling(true);
    setTreePruning(true);
    setPrunedMeasure(true);
 
    // Disable conflicting options
    setSampleRejection(false);
    setNewStateRejection(false);
 
    // Remove those parameters:
    params_.remove("use_admissible_heuristic");
    params_.remove("informed_sampling");
    params_.remove("pruned_measure");
    params_.remove("tree_pruning");
 
    // Remove conflicting parameters:
    params_.remove("sample_rejection");
    params_.remove("new_state_rejection");
    params_.remove("focus_search");
}