Exponential.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/importance/Exponential.h>
40 
41 ompl::multilevel::BundleSpaceImportanceExponential::BundleSpaceImportanceExponential(BundleSpaceGraph *graph)
42  : BaseT(graph)
43 {
44 }
45 
46 double ompl::multilevel::BundleSpaceImportanceExponential::eval()
47 {
48  const double p = 1.0 / bundleSpaceGraph_->getBundleDimension();
49  const double N = (double)bundleSpaceGraph_->getNumberOfVertices();
50  const double Nd = powf(N, p);
51  return 1.0 / (Nd + 1.0);
52 }