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/* Authors: Jonathan Gammell */

#include "ompl/geometric/planners/rrt/InformedRRTstar.h"

ompl::geometric::InformedRRTstar::InformedRRTstar(const base::SpaceInformationPtr &si)
    : RRTstar(si)
{
    //Set my name:
    setName("InformedRRTstar");

    //Configure RRTstar to be InformedRRT*:
    setAdmissibleCostToCome(true);
    setInformedSampling(true);
    setTreePruning(true);
    setPrunedMeasure(true);

    //Disable conflicting options
    setSampleRejection(false);
    setNewStateRejection(false);

    //Remove those parameters:
    params_.remove("use_admissible_heuristic");
    params_.remove("informed_sampling");
    params_.remove("pruned_measure");
    params_.remove("tree_pruning");

    //Remove conflicting parameters:
    params_.remove("sample_rejection");
    params_.remove("new_state_rejection");
    params_.remove("focus_search");
}
