Program Listing for File QMPImpl.h

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/* Author: Andreas Orthey, Sohaib Akbar */

#ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QMPIMPL_
#define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QMPIMPL_
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <ompl/datastructures/PDF.h>

namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(OptimizationObjective);
    }
    namespace multilevel
    {
        OMPL_CLASS_FORWARD(PathGeometric);
        class QMPImpl : public ompl::multilevel::BundleSpaceGraph
        {
            using BaseT = BundleSpaceGraph;

        public:
            QMPImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_);
            virtual ~QMPImpl() override;

            virtual void grow() override;
            virtual void clear() override;

            void expand();

            virtual unsigned int computeK();

            void connectNeighbors(Configuration *x);

            virtual Vertex addConfiguration(Configuration *q) override;
            void deleteConfiguration(Configuration *q) override;
            void updatePDF(Configuration *q);

        protected:
            std::vector<base::State *> randomWorkStates_;

            unsigned int k_NearestNeighbors_{10};

            PDF pdf;
        };
    }  // namespace multilevel
}  // namespace ompl

#endif