PrecomputedSequence.h
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34 
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 
44 namespace ompl
45 {
46  namespace base
47  {
49  class PrecomputedSequence : public DeterministicSequence
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
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.
Definition: AppBase.h:22