Loading...
Searching...
No Matches
PrecomputedSequence.cpp
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2019, Robert Bosch GmbH
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Robert Bosch GmbH nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34
35/* Author: Leonard Bruns */
36
37#include "ompl/base/samplers/deterministic/PrecomputedSequence.h"
38
39#include "ompl/util/Console.h"
40
41#include <iostream>
42#include <cmath>
43#include <map>
44#include <algorithm>
45#include <fstream>
46#include <sstream>
47
48namespace ompl
49{
50 namespace base
51 {
52 PrecomputedSequence::PrecomputedSequence(std::string path, unsigned int dimensions, bool shuffle,
53 size_t max_samples)
54 : DeterministicSequence(dimensions)
55 {
56 readSamplesFromFile(path, dimensions, max_samples);
57 if (shuffle)
58 {
59 rand_eng_ = std::default_random_engine{};
60 shuffleSamples();
61 }
62 }
63
64 std::vector<double> PrecomputedSequence::sample()
65 {
66 if (current_index_ >= sample_set_.size())
67 {
68 OMPL_WARN("Precomputed sequence sampler requested more samples than possible, will provide same "
69 "samples again.");
70 current_index_ = 0;
71 }
72 const auto &next_sample = sample_set_[current_index_];
73 ++current_index_; // out of bounds check is done on next sample, so that if there are n samples, sampling
74 // exactly n samples gives no error
75 return next_sample;
76 }
77
78 void PrecomputedSequence::readSamplesFromFile(std::string path, unsigned int dimensions, size_t max_samples)
79 {
80 std::ifstream ifs(path);
81 std::string line;
82 while (std::getline(ifs, line))
83 {
84 size_t count = 0;
85 std::istringstream iss(line);
86 std::vector<double> new_sample;
87 while (count < dimensions && iss)
88 {
89 double new_number;
90 iss >> new_number;
91 new_sample.emplace_back(new_number);
92 ++count;
93 }
94 if (count != dimensions)
95 {
96 OMPL_ERROR("Precomputed sequence contains less dimensions than requested.");
97 return;
98 }
99 sample_set_.emplace_back(new_sample);
100 if (max_samples != 0 && sample_set_.size() >= max_samples)
101 break;
102 }
103 }
104
105 void PrecomputedSequence::shuffleSamples()
106 {
107 std::shuffle(sample_set_.begin(), sample_set_.end(), rand_eng_);
108 }
109
110 } // namespace base
111} // namespace ompl
An abstract class for deterministic sequences in arbitrary dimensions.
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...
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition Console.h:64
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66
Main namespace. Contains everything in this library.