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34
35 /* Authors: Jonathan Gammell */
36
37 #include "ompl/geometric/planners/rrt/SORRTstar.h"
38
SORRTstar(const base::SpaceInformationPtr & si)39 ompl::geometric::SORRTstar::SORRTstar(const base::SpaceInformationPtr &si) : InformedRRTstar(si)
40 {
41 // Set my name:
42 setName("SORRTstar");
43
44 // Configure InformedRRT* to be SORRT*:
45 setOrderedSampling(true);
46 setBatchSize(100u);
47
48 // Remove those parameters:
49 params_.remove("use_ordered_sampling");
50 }
51