37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
74 virtual void clear(
void);
93 template<
template<
typename T>
class NN>
96 tStart_.reset(
new NN<Motion*>());
97 tGoal_.reset(
new NN<Motion*>());
100 virtual void setup(
void);
109 Motion(
void) : root(NULL), state(NULL), parent(NULL)
130 typedef boost::shared_ptr< NearestNeighbors<Motion*> >
TreeData;
157 return si_->distance(a->state, b->state);