QMPStarImpl.h

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/* Author: Andreas Orthey, Sohaib Akbar */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QMPSTARIMPL_
#define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QMPSTARIMPL_
#include <ompl/multilevel/planners/qmp/QMPImpl.h>
#include <ompl/datastructures/PDF.h>
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(OptimizationObjective);
    }
    namespace multilevel
    {
        class QMPStarImpl : public ompl::multilevel::QMPImpl
        {
            using BaseT = QMPImpl;
 
        public:
            QMPStarImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_);
            virtual ~QMPStarImpl() override;
 
        protected:
            virtual unsigned int computeK() override;
 
            double kPRMStarConstant_{0};
        };
    }  // namespace multilevel
}  // namespace ompl
 
#endif