Sampleable.hpp

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#ifndef AIKIDO_CONSTRAINT_SAMPLEABLE_HPP_
#define AIKIDO_CONSTRAINT_SAMPLEABLE_HPP_
 
#include <limits>
#include <memory>
 
#include <boost/optional.hpp>
 
#include "aikido/common/RNG.hpp"
#include "aikido/common/pointers.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace constraint {
 
AIKIDO_DECLARE_POINTERS(Sampleable)
 
class SampleGenerator;
 
class Sampleable
{
public:
  virtual ~Sampleable() = default;
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual std::unique_ptr<SampleGenerator> createSampleGenerator() const = 0;
};
 
class SampleGenerator
{
public:
  virtual ~SampleGenerator() = default;
 
  static constexpr int NO_LIMIT = std::numeric_limits<int>::max();
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual bool sample(statespace::StateSpace::State* _state) = 0;
 
  virtual int getNumSamples() const = 0;
 
  virtual bool canSample() const = 0;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_SAMPLEABLE_HPP_