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/* Author: Ioan Sucan, James D. Marble */

#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_LAZYPRM_STAR_
#define OMPL_GEOMETRIC_PLANNERS_PRM_LAZYPRM_STAR_

#include "ompl/geometric/planners/prm/LazyPRM.h"

namespace ompl
{
    namespace geometric
    {
        /**
           @anchor gLazyPRMstar
           Run LazyPRM with the "star strategy". Instead of setting the
           value "k" for how many neighbors to connect, automatically
           compute it based on the coverage of the space, guaranteeing
           optimality of solutions.
           @par Short description
           @par External documentation
           R. Bohlin and L.E. Kavraki
           Path Planning Using Lazy PRM
           <em>IEEE International Conference on Robotics and Automation</em>, San Francisco, pp. 521–528, 2000.
           DOI: [10.1109/ROBOT.2000.844107](http://dx.doi.org/10.1109/ROBOT.2000.844107)<br>
           S. Karaman and E. Frazzoli, Sampling-based
           Algorithms for Optimal Motion Planning, International Journal of Robotics
           Research, vol. 30, no.7, pp. 846-894, 2011.
           DOI: [10.1177/0278364911406761](http://dx.doi.org/10.1177/0278364911406761)<br>
           [[more]](http://www.kavrakilab.org/robotics/lazyprm.html)
        */

        /** \brief PRM* planner */
        class LazyPRMstar : public LazyPRM
        {
        public:
            /** \brief Constructor */
            LazyPRMstar(const base::SpaceInformationPtr &si);
        };
    }
}

#endif
