PrmUtilityGuided.h

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//
// Copyright (c) 2011, Arne Sieverling
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#ifndef _RL_PLAN_PRMUTILITYGUIDED_H_
#define _RL_PLAN_PRMUTILITYGUIDED_H_
 
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
 
#include "Prm.h"
 
namespace rl
{
    namespace plan
    {
        class PrmUtilityGuided : public Prm
        {
        public:
            PrmUtilityGuided();
            
            virtual ~PrmUtilityGuided();
            
            void construct(const ::std::size_t& steps);
            
            ::std::string getName() const;
            
            void seed(const ::boost::mt19937::result_type& value);
            
            bool solve();
            
        private:
            class Sample
            {
            public:
                Sample(const ::std::size_t& d);
                
                virtual ~Sample();
                
                ::rl::math::Real d;
                
                bool isColliding;
                
                ::rl::math::Vector q;
            };
            
            struct CompareSample
            {
                bool operator()(const Sample* x, const Sample* y) const;
            };
            
            void generateEntropyGuidedSample(::rl::math::Vector& q);
            
            ::rl::math::Real getFreeProbability(const Sample& sample);
            
            ::std::size_t numNeighbors;
            
            ::std::size_t numSamples;
            
            ::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > > rand;
            
            ::std::vector< Sample > samples;
            
            ::rl::math::Real variance;
        };
    }
}
 
#endif // _RL_PLAN_PRMUTILITYGUIDED_H_