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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
43namespace 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
Abstract definition of optimization objectives.
A single Bundle-space.
Definition BundleSpace.h:64
Implementation of the Quotient space roadMap Planner.
Definition QMPImpl.h:54
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.