ompl/ompl — pull request #41 by jvgomez (2014-11-02 00:58:09+00:00)
Title: FMT updates: improves code, heuristics, kNN and collision check caching

Please, note that the new parameter cacheCC_ is intentionally not included as a PlannerParam because we want the general users to take advantage of it and not disable it accidentally. An advanced user could use the setCacheCC() method.