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QRRTImpl.h
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35
36/* Author: Andreas Orthey */
37
38#ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTIMPL_
39#define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTIMPL_
40#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
41#include <ompl/datastructures/PDF.h>
42
43namespace ompl
44{
45 namespace base
46 {
47 OMPL_CLASS_FORWARD(OptimizationObjective);
48 }
49 namespace multilevel
50 {
53 {
54 using BaseT = BundleSpaceGraph;
55
56 public:
58 virtual ~QRRTImpl() override;
59
61 virtual void grow() override;
62 };
63 } // namespace multilevel
64} // namespace ompl
65
66#endif
A shared pointer wrapper for ompl::base::SpaceInformation.
A graph on a Bundle-space.
A single Bundle-space.
Definition BundleSpace.h:64
Implementation of BundleSpace Rapidly-Exploring Random Trees Algorithm.
Definition QRRTImpl.h:53
virtual void grow() override
One iteration of RRT with adjusted sampling function.
Definition QRRTImpl.cpp:57
Main namespace. Contains everything in this library.