BundleSpaceImportance.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_IMPORTANCE_IMPORTANCE_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_IMPORTANCE_IMPORTANCE_
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <memory>
 
namespace ompl
{
    namespace multilevel
    {
 
        OMPL_CLASS_FORWARD(BundleSpaceGraph);
 
        class BundleSpaceImportance
        {
        public:
            using Configuration = BundleSpaceGraph::Configuration;
            BundleSpaceImportance() = delete;
            BundleSpaceImportance(BundleSpaceGraph *graph) : bundleSpaceGraph_(graph){};
 
            virtual ~BundleSpaceImportance() = default;
 
            virtual double eval() = 0;
 
            virtual void clear(){};
 
        protected:
            BundleSpaceGraph *bundleSpaceGraph_;
        };
    }
}
 
#endif