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BundleSpaceImportance.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_IMPORTANCE_IMPORTANCE_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_IMPORTANCE_IMPORTANCE_
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42#include <memory>
43
44namespace ompl
45{
46 namespace multilevel
47 {
49
50 OMPL_CLASS_FORWARD(BundleSpaceGraph);
52
53 class BundleSpaceImportance
54 {
55 public:
56 using Configuration = BundleSpaceGraph::Configuration;
57 BundleSpaceImportance() = delete;
58 BundleSpaceImportance(BundleSpaceGraph *graph) : bundleSpaceGraph_(graph){};
59
60 virtual ~BundleSpaceImportance() = default;
61
62 virtual double eval() = 0;
63
64 virtual void clear(){};
65
66 protected:
67 BundleSpaceGraph *bundleSpaceGraph_;
68 };
69 }
70}
71
72#endif
A graph on a Bundle-space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.