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;
}