PrecomputedSequence.h

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/* Author: Leonard Bruns */
 
#ifndef OMPL_BASE_PRECOMPUTED_SEQUENCE
#define OMPL_BASE_PRECOMPUTED_SEQUENCE
 
#include "ompl/base/samplers/deterministic/DeterministicSequence.h"
#include <random>
#include <string>
 
namespace ompl
{
    namespace base
    {
        class PrecomputedSequence : public DeterministicSequence
        {
        public:
            PrecomputedSequence(std::string path, unsigned int dimensions, bool shuffle = false,
                                size_t max_samples = 0);
 
            std::vector<double> sample() override;
 
        private:
            std::vector<std::vector<double>> sample_set_;
            size_t current_index_{0};
            std::default_random_engine rand_eng_;
 
            void readSamplesFromFile(std::string path, unsigned int dimensions, size_t max_samples = 0);
 
            void shuffleSamples();
        };
    }  // namespace base
 
}  // namespace ompl
 
#endif