Greedy.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_IMPORTANCE_GREEDY_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_IMPORTANCE_GREEDY_
#include <ompl/multilevel/datastructures/importance/BundleSpaceImportance.h>
 
namespace ompl
{
    namespace multilevel
    {
        class BundleSpaceImportanceGreedy : public BundleSpaceImportance
        {
            using BaseT = BundleSpaceImportance;
 
        public:
            BundleSpaceImportanceGreedy() = delete;
            BundleSpaceImportanceGreedy(BundleSpaceGraph *graph);
 
            ~BundleSpaceImportanceGreedy() = default;
 
            virtual double eval() override;
 
        private:
            double getLevelConstant();
            double epsilon{0.1};
        };
    }
}
 
#endif