QMPStarImpl.h
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35 
36 /* Author: Andreas Orthey, Sohaib Akbar */
37 
38 #ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QMPSTARIMPL_
39 #define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QMPSTARIMPL_
40 #include <ompl/multilevel/planners/qmp/QMPImpl.h>
41 #include <ompl/datastructures/PDF.h>
42 
43 namespace ompl
44 {
45  namespace base
46  {
47  OMPL_CLASS_FORWARD(OptimizationObjective);
48  }
49  namespace multilevel
50  {
51  class QMPStarImpl : public ompl::multilevel::QMPImpl
52  {
53  using BaseT = QMPImpl;
54 
55  public:
56  QMPStarImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_);
57  virtual ~QMPStarImpl() override;
58 
59  protected:
60  virtual unsigned int computeK() override;
61 
62  double kPRMStarConstant_{0};
63  };
64  } // namespace multilevel
65 } // namespace ompl
66 
67 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
BundleSpace(const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)
Bundle Space contains three primary characters, the bundle space, the base space and the projection.
Definition: BundleSpace.cpp:60
Implementation of the Quotient space roadMap Planner.
Definition: QMPImpl.h:86
Main namespace. Contains everything in this library.