PrmUtilityGuided.h

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//
// Copyright (c) 2011, Arne Sieverling
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//
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions in binary form must reproduce the above copyright notice,
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#ifndef RL_PLAN_PRMUTILITYGUIDED_H
#define RL_PLAN_PRMUTILITYGUIDED_H
 
#include <random>
 
#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 ::std::mt19937::result_type& value);
            
            bool solve();
            
        protected:
            
        private:
            class Sample
            {
            public:
                Sample(const ::std::size_t& d);
                
                virtual ~Sample();
                
                ::rl::math::Real d;
                
                bool isColliding;
                
                ::rl::math::Vector q;
                
            protected:
                
            private:
                
            };
            
            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::uniform_real_distribution< ::rl::math::Real>::result_type rand();
            
            ::std::size_t numNeighbors;
            
            ::std::size_t numSamples;
            
            ::std::uniform_real_distribution< ::rl::math::Real> randDistribution;
            
            ::std::mt19937 randEngine;
            
            ::std::vector<Sample> samples;
            
            ::rl::math::Real variance;
        };
    }
}
 
#endif // RL_PLAN_PRMUTILITYGUIDED_H