/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2014, University of Toronto
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the University of Toronto nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* 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*:
    setInformedSampling(true);
    setTreePruning(true);
    setPrunedMeasure(true);

    //Remove those parameters:
    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");
}
