QMPStarImpl.cpp
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36 
37 /* Author: Andreas Orthey, Sohaib Akbar */
38 
39 #include <ompl/multilevel/planners/qmp/QMPStarImpl.h>
40 #include <ompl/tools/config/SelfConfig.h>
41 #include <ompl/datastructures/NearestNeighbors.h>
42 #include <ompl/datastructures/PDF.h>
43 #include <boost/foreach.hpp>
44 #include <boost/math/constants/constants.hpp>
45 
46 #define foreach BOOST_FOREACH
47 
48 ompl::multilevel::QMPStarImpl::QMPStarImpl(const base::SpaceInformationPtr &si, BundleSpace *parent_)
49  : BaseT(si, parent_)
50 {
51  setName("QMPStarImpl" + std::to_string(id_));
52 
53  double d = (double)getBundle()->getStateDimension();
54  double e = boost::math::constants::e<double>();
55  kPRMStarConstant_ = e + (e / d);
56 }
57 
58 ompl::multilevel::QMPStarImpl::~QMPStarImpl()
59 {
60 }
61 
62 unsigned int ompl::multilevel::QMPStarImpl::computeK()
63 {
64  unsigned int K = static_cast<unsigned int>(ceil(kPRMStarConstant_ * log((double)boost::num_vertices(graph_))));
65  return K;
66 }
void setName(const std::string &name)
Set the name of the planner.
Definition: Planner.cpp:61
unsigned int id_
Identity of space (to keep track of number of Bundle-spaces created)
Definition: BundleSpace.h:360
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.