FiniteSampleable.hpp

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#ifndef AIKIDO_CONSTRAINT_FINITESAMPLEABLE_HPP_
#define AIKIDO_CONSTRAINT_FINITESAMPLEABLE_HPP_
 
#include "aikido/constraint/Sampleable.hpp"
 
namespace aikido {
namespace constraint {
 
class FiniteSampleable : public Sampleable
{
public:
  FiniteSampleable(
      statespace::StateSpacePtr _stateSpace,
      const statespace::StateSpace::State* _state);
 
  FiniteSampleable(
      statespace::StateSpacePtr _stateSpace,
      const std::vector<const statespace::StateSpace::State*>& _states);
 
  FiniteSampleable(const FiniteSampleable& other) = delete;
  FiniteSampleable(FiniteSampleable&& other) = delete;
 
  FiniteSampleable& operator=(const FiniteSampleable& other) = delete;
  FiniteSampleable& operator=(FiniteSampleable&& other) = delete;
 
  virtual ~FiniteSampleable();
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::unique_ptr<SampleGenerator> createSampleGenerator() const override;
 
private:
  statespace::ConstStateSpacePtr mStateSpace;
  std::vector<statespace::StateSpace::State*> mStates;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_FINITESAMPLEABLE_HPP_