HaltonSequence.h

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/* Author: Leonard Bruns */
 
#ifndef OMPL_BASE_HALTON_SEQUENCE
#define OMPL_BASE_HALTON_SEQUENCE
 
#include "ompl/base/samplers/deterministic/DeterministicSequence.h"
 
namespace ompl
{
    namespace base
    {
        class HaltonSequence1D
        {
        public:
            HaltonSequence1D();
 
            HaltonSequence1D(unsigned int base);
 
            void setBase(unsigned int base);
 
            double sample();
 
        private:
            unsigned int i_, base_;
        };
 
        class HaltonSequence : public DeterministicSequence
        {
        public:
            HaltonSequence(unsigned int dimensions);
            HaltonSequence(unsigned int dimensions, std::vector<unsigned int> bases);
 
            std::vector<double> sample() override;
 
        private:
            std::vector<HaltonSequence1D> halton_sequences_1d_;
 
            void setBasesToPrimes();
        };
    }  // namespace base
 
}  // namespace ompl
 
#endif