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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
44namespace ompl
45{
46 namespace base
47 {
49 {
50 }
51
52 HaltonSequence1D::HaltonSequence1D(unsigned int base) : i_(1), base_(base)
53 {
54 }
55
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
DeterministicSequence(unsigned int dimensions)
Constructor.
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.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.