QMPStarImpl.cpp

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/* Author: Andreas Orthey, Sohaib Akbar */
 
#include <ompl/multilevel/planners/qmp/QMPStarImpl.h>
#include <ompl/tools/config/SelfConfig.h>
#include <ompl/datastructures/NearestNeighbors.h>
#include <ompl/datastructures/PDF.h>
#include <boost/foreach.hpp>
#include <boost/math/constants/constants.hpp>
 
#define foreach BOOST_FOREACH
 
ompl::multilevel::QMPStarImpl::QMPStarImpl(const base::SpaceInformationPtr &si, BundleSpace *parent_)
  : BaseT(si, parent_)
{
    setName("QMPStarImpl" + std::to_string(id_));
 
    double d = (double)getBundle()->getStateDimension();
    double e = boost::math::constants::e<double>();
    kPRMStarConstant_ = e + (e / d);
}
 
ompl::multilevel::QMPStarImpl::~QMPStarImpl()
{
}
 
unsigned int ompl::multilevel::QMPStarImpl::computeK()
{
    unsigned int K = static_cast<unsigned int>(ceil(kPRMStarConstant_ * log((double)boost::num_vertices(graph_))));
    return K;
}