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<div class="title">ABITstar.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2020, University of Oxford</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the University of Toronto nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Authors: Marlin Strub */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/ABITstar.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> {</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  {</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  ABITstar::ABITstar(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si, <span class="keyword">const</span> std::string &name <span class="comment">/*= "ABITstar"*/</span>)</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  : <a class="code" href="namespaceompl.html">ompl</a>::geometric::BITstar(si, name)</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">// Enable cascading rewirings.</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar_1_1SearchQueue.html#a2d47478fee6fc3223daa2febb4a0b57c">enableCascadingRewirings</a>(<span class="keyword">true</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="comment">// Set the default initial inflation factor to very high.</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a982de9ae5184862a71568959778f35f2">setInitialInflationFactor</a>(1000000.0);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="comment">// Set the default inflation factor parameter to something reasonable.</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a56b9b06f50f2ba2b4a297ad42c4a535d">setInflationScalingParameter</a>(10.0);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">// Set the default truncation factor parameter to something reasonable.</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae3b0af00afd03522917165a4a3adf3e2">setTruncationScalingParameter</a>(5.0);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="comment">// Declare the planner parameters.</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  Planner::declareParam<double>(<span class="stringliteral">"initial_inflation_factor"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a3345469c48c49dc44a8a5caa825d5d52">ABITstar::setInitialInflationFactor</a>,</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  &<a class="code" href="classompl_1_1geometric_1_1ABITstar.html#ae6eaaff72162696468e0fc7e12f153e0">ABITstar::getInitialInflationFactor</a>, <span class="stringliteral">"1.0:0.01:1000000.0"</span>);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  Planner::declareParam<double>(<span class="stringliteral">"inflation_scaling_parameter"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1ABITstar.html#af051fb2c65aa866a21d2b39ca94c953c">ABITstar::setInflationScalingParameter</a>,</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  &<a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a20dc5dc1fed1c28c9af1c7cb195e1c8f">ABITstar::getInflationScalingParameter</a>, <span class="stringliteral">"1.0:0.01:1000000.0"</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  Planner::declareParam<double>(<span class="stringliteral">"truncation_scaling_parameter"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1ABITstar.html#aee8e33099628f3c545c4a5297cc22241">ABITstar::setTruncationScalingParameter</a>,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  &<a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a8be1939c014259845ed7d562740aa437">ABITstar::getTruncationScalingParameter</a>, <span class="stringliteral">"1.0:0.01:1000000.0"</span>);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  }</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a3345469c48c49dc44a8a5caa825d5d52">ABITstar::setInitialInflationFactor</a>(<span class="keywordtype">double</span> factor)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a982de9ae5184862a71568959778f35f2">BITstar::setInitialInflationFactor</a>(factor);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#af051fb2c65aa866a21d2b39ca94c953c">ABITstar::setInflationScalingParameter</a>(<span class="keywordtype">double</span> factor)</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a56b9b06f50f2ba2b4a297ad42c4a535d">BITstar::setInflationScalingParameter</a>(factor);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#aee8e33099628f3c545c4a5297cc22241">ABITstar::setTruncationScalingParameter</a>(<span class="keywordtype">double</span> factor)</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  {</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae3b0af00afd03522917165a4a3adf3e2">BITstar::setTruncationScalingParameter</a>(factor);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#ae6eaaff72162696468e0fc7e12f153e0">ABITstar::getInitialInflationFactor</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a2cae192982cb112cc37a5e314e3a351e">BITstar::getInitialInflationFactor</a>();</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a20dc5dc1fed1c28c9af1c7cb195e1c8f">ABITstar::getInflationScalingParameter</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#abc9f0194a462213cba8a8affe7444377">BITstar::getInflationScalingParameter</a>();</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a8be1939c014259845ed7d562740aa437">ABITstar::getTruncationScalingParameter</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a898614a4845120be874e15f10db24009">BITstar::getTruncationScalingParameter</a>();</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a032159d2453a27f69c50a551ad870b26">ABITstar::getCurrentInflationFactor</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a5a3e053b84a193dbfeae97ee38b8a2a6">BITstar::getCurrentInflationFactor</a>();</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1ABITstar.html#a1d10d4e9a2da2f27b3aac131a413b1c0">ABITstar::getCurrentTruncationFactor</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a6c9eb86bf2a66c0a4b310075bbed0ab8">BITstar::getCurrentTruncationFactor</a>();</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  } <span class="comment">// namespace geometric</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> } <span class="comment">// namespace ompl</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::SpaceInformation.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_ae6eaaff72162696468e0fc7e12f153e0"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#ae6eaaff72162696468e0fc7e12f153e0">ompl::geometric::ABITstar::getInitialInflationFactor</a></div><div class="ttdeci">double getInitialInflationFactor() const</div><div class="ttdoc">Get the inflation factor for the initial search.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00146">ABITstar.cpp:146</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_a1d10d4e9a2da2f27b3aac131a413b1c0"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#a1d10d4e9a2da2f27b3aac131a413b1c0">ompl::geometric::ABITstar::getCurrentTruncationFactor</a></div><div class="ttdeci">double getCurrentTruncationFactor() const</div><div class="ttdoc">Get the truncation factor for the current search.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00166">ABITstar.cpp:166</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a56b9b06f50f2ba2b4a297ad42c4a535d"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a56b9b06f50f2ba2b4a297ad42c4a535d">ompl::geometric::BITstar::setInflationScalingParameter</a></div><div class="ttdeci">void setInflationScalingParameter(double parameter)</div><div class="ttdoc">The parameter that scales the inflation factor on the second search of each RGG approximation....</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01165">BITstar.cpp:1165</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a2cae192982cb112cc37a5e314e3a351e"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a2cae192982cb112cc37a5e314e3a351e">ompl::geometric::BITstar::getInitialInflationFactor</a></div><div class="ttdeci">double getInitialInflationFactor() const</div><div class="ttdoc">Get the inflation factor for the initial search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01180">BITstar.cpp:1180</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_a3345469c48c49dc44a8a5caa825d5d52"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#a3345469c48c49dc44a8a5caa825d5d52">ompl::geometric::ABITstar::setInitialInflationFactor</a></div><div class="ttdeci">void setInitialInflationFactor(double factor)</div><div class="ttdoc">Set the inflation factor for the initial search.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00131">ABITstar.cpp:131</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a6c9eb86bf2a66c0a4b310075bbed0ab8"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a6c9eb86bf2a66c0a4b310075bbed0ab8">ompl::geometric::BITstar::getCurrentTruncationFactor</a></div><div class="ttdeci">double getCurrentTruncationFactor() const</div><div class="ttdoc">Get the truncation factor for the current search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01200">BITstar.cpp:1200</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_1_1SearchQueue_html_a2d47478fee6fc3223daa2febb4a0b57c"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar_1_1SearchQueue.html#a2d47478fee6fc3223daa2febb4a0b57c">ompl::geometric::BITstar::SearchQueue::enableCascadingRewirings</a></div><div class="ttdeci">void enableCascadingRewirings(bool enable)</div><div class="ttdoc">Set whether cascading of rewirings is enabled.</div><div class="ttdef"><b>Definition:</b> <a href="SearchQueue_8cpp_source.html#l00135">SearchQueue.cpp:135</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_af051fb2c65aa866a21d2b39ca94c953c"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#af051fb2c65aa866a21d2b39ca94c953c">ompl::geometric::ABITstar::setInflationScalingParameter</a></div><div class="ttdeci">void setInflationScalingParameter(double parameter)</div><div class="ttdoc">Set the parameter for the inflation factor update policy.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00136">ABITstar.cpp:136</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_a20dc5dc1fed1c28c9af1c7cb195e1c8f"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#a20dc5dc1fed1c28c9af1c7cb195e1c8f">ompl::geometric::ABITstar::getInflationScalingParameter</a></div><div class="ttdeci">double getInflationScalingParameter() const</div><div class="ttdoc">Get the inflation scaling parameter.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00151">ABITstar.cpp:151</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ae3b0af00afd03522917165a4a3adf3e2"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ae3b0af00afd03522917165a4a3adf3e2">ompl::geometric::BITstar::setTruncationScalingParameter</a></div><div class="ttdeci">void setTruncationScalingParameter(double parameter)</div><div class="ttdoc">Sets the parameter that scales the truncation factor for the searches of each RGG approximation....</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01170">BITstar.cpp:1170</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a5a3e053b84a193dbfeae97ee38b8a2a6"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a5a3e053b84a193dbfeae97ee38b8a2a6">ompl::geometric::BITstar::getCurrentInflationFactor</a></div><div class="ttdeci">double getCurrentInflationFactor() const</div><div class="ttdoc">Get the inflation factor for the current search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01195">BITstar.cpp:1195</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_aee8e33099628f3c545c4a5297cc22241"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#aee8e33099628f3c545c4a5297cc22241">ompl::geometric::ABITstar::setTruncationScalingParameter</a></div><div class="ttdeci">void setTruncationScalingParameter(double parameter)</div><div class="ttdoc">Set the parameter for the truncation factor update policy.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00141">ABITstar.cpp:141</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_abc9f0194a462213cba8a8affe7444377"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#abc9f0194a462213cba8a8affe7444377">ompl::geometric::BITstar::getInflationScalingParameter</a></div><div class="ttdeci">double getInflationScalingParameter() const</div><div class="ttdoc">Get the inflation scaling parameter.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01185">BITstar.cpp:1185</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a898614a4845120be874e15f10db24009"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a898614a4845120be874e15f10db24009">ompl::geometric::BITstar::getTruncationScalingParameter</a></div><div class="ttdeci">double getTruncationScalingParameter() const</div><div class="ttdoc">Get the truncation factor parameter.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01190">BITstar.cpp:1190</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_a8be1939c014259845ed7d562740aa437"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#a8be1939c014259845ed7d562740aa437">ompl::geometric::ABITstar::getTruncationScalingParameter</a></div><div class="ttdeci">double getTruncationScalingParameter() const</div><div class="ttdoc">Get the truncation scaling parameter.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00156">ABITstar.cpp:156</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1ABITstar_html_a032159d2453a27f69c50a551ad870b26"><div class="ttname"><a href="classompl_1_1geometric_1_1ABITstar.html#a032159d2453a27f69c50a551ad870b26">ompl::geometric::ABITstar::getCurrentInflationFactor</a></div><div class="ttdeci">double getCurrentInflationFactor() const</div><div class="ttdoc">Get the inflation factor for the current search.</div><div class="ttdef"><b>Definition:</b> <a href="ABITstar_8cpp_source.html#l00161">ABITstar.cpp:161</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a982de9ae5184862a71568959778f35f2"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a982de9ae5184862a71568959778f35f2">ompl::geometric::BITstar::setInitialInflationFactor</a></div><div class="ttdeci">void setInitialInflationFactor(double factor)</div><div class="ttdoc">Set the inflation for the initial search of RGG approximation. See ABIT*'s class description for more...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01159">BITstar.cpp:1159</a></div></div>
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