InformedRRTstar.cpp
39 ompl::geometric::InformedRRTstar::InformedRRTstar(const base::SpaceInformationPtr &si) : RRTstar(si)
void setInformedSampling(bool informedSampling)
Use direct sampling of the heuristic for the generation of random samples (e.g., x_rand). If a direct sampling method is not defined for the objective, rejection sampling will be used by default.
Definition: RRTstar.cpp:961
void setPrunedMeasure(bool informedMeasure)
Use the measure of the pruned subproblem instead of the measure of the entire problem domain (if such...
Definition: RRTstar.cpp:918
void setNewStateRejection(const bool reject)
Controls whether heuristic rejection is used on new states before connection (e.g., x_new = steer(x_nearest, x_rand))
Definition: RRTstar.h:233
ParamSet params_
A map from parameter names to parameter instances for this planner. This field is populated by the de...
Definition: Planner.h:422
void setSampleRejection(bool reject)
Controls whether heuristic rejection is used on samples (e.g., x_rand)
Definition: RRTstar.cpp:1009
void setAdmissibleCostToCome(const bool admissible)
Controls whether pruning and new-state rejection uses an admissible cost-to-come estimate or not...
Definition: RRTstar.h:246
void remove(const std::string &name)
Remove a parameter from the set.
Definition: GenericParam.cpp:150
A shared pointer wrapper for ompl::base::SpaceInformation.
void setTreePruning(bool prune)
Controls whether the tree is pruned during the search. This pruning removes a vertex if and only if i...
Definition: RRTstar.cpp:898