HaltonSequence.h
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34 
35 /* Author: Leonard Bruns */
36 
37 #ifndef OMPL_BASE_HALTON_SEQUENCE
38 #define OMPL_BASE_HALTON_SEQUENCE
39 
40 #include "ompl/base/samplers/deterministic/DeterministicSequence.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
60  class HaltonSequence1D
61  {
62  public:
65 
67  HaltonSequence1D(unsigned int base);
68 
70  void setBase(unsigned int base);
71 
73  double sample();
74 
75  private:
76  unsigned int i_, base_;
77  };
78 
81  class HaltonSequence : public DeterministicSequence
82  {
83  public:
86  HaltonSequence(unsigned int dimensions);
89  HaltonSequence(unsigned int dimensions, std::vector<unsigned int> bases);
90 
92  std::vector<double> sample() override;
93 
94  private:
95  std::vector<HaltonSequence1D> halton_sequences_1d_;
96 
98  void setBasesToPrimes();
99  };
100  } // namespace base
101 
102 } // namespace ompl
103 
104 #endif
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.
void setBase(unsigned int base)
Sets the base of the halton sequence.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22