Greedy.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/importance/Greedy.h>
40 
41 ompl::multilevel::BundleSpaceImportanceGreedy::BundleSpaceImportanceGreedy(BundleSpaceGraph *graph) : BaseT(graph)
42 {
43  if (epsilon <= 0)
44  {
45  OMPL_WARN("Epsilon is zero.");
46  }
47 }
48 
49 double ompl::multilevel::BundleSpaceImportanceGreedy::getLevelConstant()
50 {
51  const double k = bundleSpaceGraph_->getLevel() + 1;
52  BundleSpace *cur = bundleSpaceGraph_;
53 
54  double K = k;
55  while (cur->hasSolution() && cur->hasParent())
56  {
57  cur = cur->getParent();
58  K++;
59  }
60 
61  double f = (k > 1 ? powf(epsilon, K - k) - powf(epsilon, K - k + 1) : powf(epsilon, K - k));
62 
63  return f;
64 }
65 
66 double ompl::multilevel::BundleSpaceImportanceGreedy::eval()
67 {
68  const double f = getLevelConstant();
69  double N = (double)bundleSpaceGraph_->getNumberOfVertices();
70  return 1.0 / (N / f + 1);
71 }
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66