39#include <ompl/multilevel/datastructures/importance/Greedy.h>
41ompl::multilevel::BundleSpaceImportanceGreedy::BundleSpaceImportanceGreedy(BundleSpaceGraph *graph) : BaseT(graph)
49double ompl::multilevel::BundleSpaceImportanceGreedy::getLevelConstant()
51 const double k = bundleSpaceGraph_->
getLevel() + 1;
52 BundleSpace *cur = bundleSpaceGraph_;
55 while (cur->hasSolution() && cur->hasParent())
61 double f = (k > 1 ? powf(epsilon, K - k) - powf(epsilon, K - k + 1) : powf(epsilon, K - k));
66double ompl::multilevel::BundleSpaceImportanceGreedy::eval()
68 const double f = getLevelConstant();
69 double N = (double)bundleSpaceGraph_->getNumberOfVertices();
70 return 1.0 / (N / f + 1);
BundleSpace * getParent() const
Return k+1 th bundle space (locally the total space)
unsigned int getLevel() const
Level in hierarchy of Bundle-spaces.
#define OMPL_WARN(fmt,...)
Log a formatted warning string.