LazyPRMstar.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2014, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan, James D. Marble, Ryan Luna, Henning Kayser */
36 
37 #include "ompl/geometric/planners/prm/LazyPRMstar.h"
38 
39 ompl::geometric::LazyPRMstar::LazyPRMstar(const base::SpaceInformationPtr &si) : LazyPRM(si, true)
40 {
41  setName("LazyPRMstar");
42  params_.remove("range");
43  params_.remove("max_nearest_neighbors");
44 }
45 
47 {
48  setName("LazyPRMstar");
49  params_.remove("range");
50  params_.remove("max_nearest_neighbors");
51 }
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:490
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
Lazy Probabilistic RoadMap planner.
Definition: LazyPRM.h:105
LazyPRMstar(const base::SpaceInformationPtr &si)
Constructor.
Definition: LazyPRMstar.cpp:39
void remove(const std::string &name)
Remove a parameter from the set.