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Greedy.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/importance/Greedy.h>
40
41ompl::multilevel::BundleSpaceImportanceGreedy::BundleSpaceImportanceGreedy(BundleSpaceGraph *graph) : BaseT(graph)
42{
43 if (epsilon <= 0)
44 {
45 OMPL_WARN("Epsilon is zero.");
46 }
47}
48
49double 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
66double ompl::multilevel::BundleSpaceImportanceGreedy::eval()
67{
68 const double f = getLevelConstant();
69 double N = (double)bundleSpaceGraph_->getNumberOfVertices();
70 return 1.0 / (N / f + 1);
71}
BundleSpace * getParent() const
Return k+1 th bundle space (locally the total space)
unsigned int getLevel() const
Level in hierarchy of Bundle-spaces.
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66