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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
48ompl::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
58ompl::multilevel::QMPStarImpl::~QMPStarImpl()
59{
60}
61
62unsigned 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 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