• OBJECTIVE_PATHCLEARANCE : ompl_planning.hpp
• OBJECTIVE_PATHLENGTH : ompl_planning.hpp
• OBJECTIVE_THRESHOLDPATHLENGTH : ompl_planning.hpp
• OBJECTIVE_WEIGHTEDCOMBO : ompl_planning.hpp
• PLANNER_PRMSTAR : ompl_planning.hpp
• PLANNER_RRTSTAR : ompl_planning.hpp