base::PlannerPtr newPlanner(const base::SpaceInformationPtr &si) override { auto pdst(std::make_shared<geometric::PDST>(si)); std::vector<unsigned int> projection = {0, 1}; std::vector<double> cdim = {1, 1}; pdst->setProjectionEvaluator( std::make_shared<base::RealVectorOrthogonalProjectionEvaluator>( si->getStateSpace(), cdim, projection)); return pdst; }
base::PlannerPtr newPlanner(const base::SpaceInformationPtr &si) override { auto kpiece(std::make_shared<geometric::BKPIECE1>(si)); kpiece->setRange(10.0); std::vector<unsigned int> projection = {0, 1}; std::vector<double> cdim = {1, 1}; kpiece->setProjectionEvaluator( std::make_shared<base::RealVectorOrthogonalProjectionEvaluator>( si->getStateSpace(), cdim, projection)); return kpiece; }
base::PlannerPtr newPlanner(const base::SpaceInformationPtr &si) override { auto sbl(std::make_shared<geometric::pSBL>(si)); sbl->setRange(10.0); sbl->setThreadCount(std::min(4u, std::thread::hardware_concurrency())); std::vector<unsigned int> projection = {0, 1}; std::vector<double> cdim = {1, 1}; sbl->setProjectionEvaluator( std::make_shared<base::RealVectorOrthogonalProjectionEvaluator>( si->getStateSpace(), cdim, projection)); return sbl; }