HaltonSequence.cpp
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34 
35 /* Author: Leonard Bruns */
36 
37 #include "ompl/base/samplers/deterministic/HaltonSequence.h"
38 #include "ompl/util/Console.h"
39 #include <iostream>
40 #include <cmath>
41 #include <map>
42 #include <boost/math/special_functions/prime.hpp>
43 
44 namespace ompl
45 {
46  namespace base
47  {
49  {
50  }
51 
52  HaltonSequence1D::HaltonSequence1D(unsigned int base) : i_(1), base_(base)
53  {
54  }
55 
56  void HaltonSequence1D::setBase(unsigned int base)
57  {
58  base_ = base;
59  }
60 
62  {
63  double f = 1, r = 0;
64  unsigned int i = i_;
65 
66  while (i > 0)
67  {
68  f /= base_;
69  r += f * (i % base_);
70  i = std::floor(i / base_);
71  }
72 
73  ++i_;
74  return r;
75  }
76 
77  HaltonSequence::HaltonSequence(unsigned int dimensions)
78  : DeterministicSequence(dimensions), halton_sequences_1d_(dimensions)
79  {
80  setBasesToPrimes();
81  }
82 
83  HaltonSequence::HaltonSequence(unsigned int dimensions, std::vector<unsigned int> bases)
84  : DeterministicSequence(dimensions), halton_sequences_1d_(dimensions)
85  {
86  if (bases.size() != dimensions)
87  {
88  OMPL_WARN("Number of bases does not match dimensions. Using first n primes instead.");
89  }
90  else
91  {
92  int i = 0;
93  for (auto base : bases)
94  {
95  halton_sequences_1d_[i].setBase(base);
96  i++;
97  }
98  }
99  }
100 
101  std::vector<double> HaltonSequence::sample()
102  {
103  std::vector<double> samples;
104  for (auto &seq : halton_sequences_1d_)
105  {
106  samples.push_back(seq.sample());
107  }
108  return samples;
109  }
110 
111  void HaltonSequence::setBasesToPrimes()
112  {
113  // set the base of the halton sequences to the first n prime numbers, where n is dimensions
114  unsigned int current = 2;
115  for (unsigned int i = 0; i < dimensions_; i++)
116  {
117  current = boost::math::prime(i);
118  halton_sequences_1d_[i].setBase(current);
119  }
120  }
121  } // namespace base
122 } // namespace ompl
An abstract class for deterministic sequences in arbitrary dimensions.
void setBase(unsigned int base)
Sets the base of the halton sequence.
double sample()
Returns the next sample in the interval [0,1].
std::vector< double > sample() override
Returns the next sample in the interval [0,1].
HaltonSequence(unsigned int dimensions)
Constructor, only specifiying the dimensions, first n primes will be used as bases.
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Main namespace. Contains everything in this library.
Definition: AppBase.h:22