ABITstar.cpp
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34
35/* Authors: Marlin Strub */
36
37#include "ompl/geometric/planners/informedtrees/ABITstar.h"
38
39namespace ompl
40{
41 namespace geometric
42 {
43 ABITstar::ABITstar(const ompl::base::SpaceInformationPtr &si, const std::string &name /*= "ABITstar"*/)
44 : ompl::geometric::BITstar(si, name)
45 {
46 // Enable cascading rewirings.
47 enableCascadingRewirings(true);
48
49 // Set the default initial inflation factor to very high.
50 setInitialInflationFactor(1000000.0);
51
52 // Set the default inflation factor parameter to something reasonable.
53 setInflationScalingParameter(10.0);
54
55 // Set the default truncation factor parameter to something reasonable.
56 setTruncationScalingParameter(5.0);
57
58 // Declare the planner parameters.
59 Planner::declareParam<double>("initial_inflation_factor", this, &ABITstar::setInitialInflationFactor,
60 &ABITstar::getInitialInflationFactor, "1.0:0.01:1000000.0");
61 Planner::declareParam<double>("inflation_scaling_parameter", this, &ABITstar::setInflationScalingParameter,
62 &ABITstar::getInflationScalingParameter, "1.0:0.01:1000000.0");
63 Planner::declareParam<double>("truncation_scaling_parameter", this, &ABITstar::setTruncationScalingParameter,
64 &ABITstar::getTruncationScalingParameter, "1.0:0.01:1000000.0");
65 }
66
67 void ABITstar::setInitialInflationFactor(double factor)
68 {
69 BITstar::setInitialInflationFactor(factor);
70 }
71
72 void ABITstar::setInflationScalingParameter(double factor)
73 {
74 BITstar::setInflationScalingParameter(factor);
75 }
76
77 void ABITstar::setTruncationScalingParameter(double factor)
78 {
79 BITstar::setTruncationScalingParameter(factor);
80 }
81
82 double ABITstar::getInitialInflationFactor() const
83 {
84 return BITstar::getInitialInflationFactor();
85 }
86
87 double ABITstar::getInflationScalingParameter() const
88 {
89 return BITstar::getInflationScalingParameter();
90 }
91
92 double ABITstar::getTruncationScalingParameter() const
93 {
94 return BITstar::getTruncationScalingParameter();
95 }
96
97 double ABITstar::getCurrentInflationFactor() const
98 {
99 return BITstar::getCurrentInflationFactor();
100 }
101
102 double ABITstar::getCurrentTruncationFactor() const
103 {
104 return BITstar::getCurrentTruncationFactor();
105 }
106
107 } // namespace geometric
108
109} // namespace ompl
A shared pointer wrapper for ompl::base::SpaceInformation.
Main namespace. Contains everything in this library.