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  /* Authors: Jonathan Gammell */
  
  #include "ompl/geometric/planners/rrt/SORRTstar.h"
  
  ompl::geometric::SORRTstar::SORRTstar(const base::SpaceInformationPtr &si) : InformedRRTstar(si)
  {
      // Set my name:
      setName("SORRTstar");
  
      // Configure InformedRRT* to be SORRT*:
      setOrderedSampling(true);
      setBatchSize(100u);
  
      // Remove those parameters:
      params_.remove("use_ordered_sampling");
  }
  