void ompl::geometric::RRTstar::calculateRewiringLowerBounds()
{
double dimDbl = static_cast<double>(si_->getStateDimension());
// k_rrg > e+e/d. K-nearest RRT*
k_rrg_ = rewireFactor_ * (boost::math::constants::e<double>() + (boost::math::constants::e<double>() / dimDbl));
// r_rrg > 2*(1+1/d)^(1/d)*(measure/ballvolume)^(1/d)
// If we're not using the informed measure, prunedMeasure_ will be set to si_->getSpaceMeasure();
r_rrg_ = rewireFactor_ * 2.0 * std::pow((1.0 + 1.0/dimDbl) * (prunedMeasure_ / unitNBallMeasure(si_->getStateDimension())), 1.0 / dimDbl);
}
void ompl::geometric::RRTXstatic::calculateRewiringLowerBounds()
{
auto dimDbl = static_cast<double>(si_->getStateDimension());
// k_rrt > 2^(d + 1) * e * (1 + 1 / d). K-nearest RRT*
k_rrt_ = rewireFactor_ * (std::pow(2, dimDbl + 1) * boost::math::constants::e<double>() * (1.0 + 1.0 / dimDbl));
// r_rrt > (2*(1+1/d))^(1/d)*(measure/ballvolume)^(1/d)
r_rrt_ = rewireFactor_ *
std::pow(2 * (1.0 + 1.0 / dimDbl) * (si_->getSpaceMeasure() / unitNBallMeasure(si_->getStateDimension())),
1.0 / dimDbl);
}