Heuristic Sampling Improvements

[Eric-Vin]

Description

Improves heuristic sampling functionality in the veneer. Now everything should raise RejectionException, which is converted to an InvalidScenarioError at a higher level if appropriate.

Issue Link

https://github.com/BerkeleyLearnVerify/Scenic/issues/256

Checklist

• [X] I have tested the changes locally via pytest and/or other means
• [X] I have added or updated relevant documentation
• [X] I have autoformatted the code with black and isort
• [X] I have added test cases (if applicable)

Additional Notes

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 91.27%. Comparing base (d7679fb) to head (2759488). Report is 7 commits behind head on main.

Additional details and impacted files

[](https://app.codecov.io/gh/BerkeleyLearnVerify/Scenic/pull/287?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=BerkeleyLearnVerify) ```diff @@ Coverage Diff @@ ## main #287 +/- ## ========================================== - Coverage 91.32% 91.27% -0.06% ========================================== Files 54 54 Lines 13515 13528 +13 ========================================== + Hits 12343 12348 +5 - Misses 1172 1180 +8 ``` | [Files](https://app.codecov.io/gh/BerkeleyLearnVerify/Scenic/pull/287?dropdown=coverage&src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=BerkeleyLearnVerify) | Coverage Δ | | |---|---|---| | [src/scenic/domains/driving/roads.py](https://app.codecov.io/gh/BerkeleyLearnVerify/Scenic/pull/287?src=pr&el=tree&filepath=src%2Fscenic%2Fdomains%2Fdriving%2Froads.py&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=BerkeleyLearnVerify#diff-c3JjL3NjZW5pYy9kb21haW5zL2RyaXZpbmcvcm9hZHMucHk=) | `94.18% <100.00%> (+0.09%)` | :arrow_up: | ... and [8 files with indirect coverage changes](https://app.codecov.io/gh/BerkeleyLearnVerify/Scenic/pull/287/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=BerkeleyLearnVerify)

[Eric-Vin]

Went ahead and made the change. Please go ahead and take a final look and merge when you get the chance!