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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 {
52 {
53 using BaseT = QMPImpl;
54
55 public:
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.
A single Bundle-space.
Definition BundleSpace.h:64
Implementation of the Quotient space roadMap Planner.
Definition QMPImpl.h:54
Main namespace. Contains everything in this library.