PrecomputedSequence.h
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35/* Author: Leonard Bruns */
36
37#ifndef OMPL_BASE_PRECOMPUTED_SEQUENCE
38#define OMPL_BASE_PRECOMPUTED_SEQUENCE
39
40#include "ompl/base/samplers/deterministic/DeterministicSequence.h"
41#include <random>
42#include <string>
43
44namespace ompl
45{
46 namespace base
47 {
50 {
51 public:
57 PrecomputedSequence(std::string path, unsigned int dimensions, bool shuffle = false,
58 size_t max_samples = 0);
59
62 std::vector<double> sample() override;
63
64 private:
65 std::vector<std::vector<double>> sample_set_;
66 size_t current_index_{0};
67 std::default_random_engine rand_eng_;
68
70 void readSamplesFromFile(std::string path, unsigned int dimensions, size_t max_samples = 0);
71
73 void shuffleSamples();
74 };
75 } // namespace base
76
77} // namespace ompl
78
79#endif
An abstract class for deterministic sequences in arbitrary dimensions.
General realization for a sampler of precomputed sequences or sets.
std::vector< double > sample() override
Returns the next sample, loops if there are no more precomputed samples. The range of the samples dep...
PrecomputedSequence(std::string path, unsigned int dimensions, bool shuffle=false, size_t max_samples=0)
Constructor, requires the path of file containing the precomputed samples formated with one sample pe...
Main namespace. Contains everything in this library.