StateSampler.hpp

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#ifndef AIKIDO_OMPL_AIKIDOSTATESAMPLER_HPP_
#define AIKIDO_OMPL_AIKIDOSTATESAMPLER_HPP_
 
#include <ompl/base/StateSampler.h>
 
#include "aikido/constraint/Sampleable.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
class StateSampler : public ::ompl::base::StateSampler
{
 
public:
  StateSampler(
      const ::ompl::base::StateSpace* _space,
      std::unique_ptr<constraint::SampleGenerator> _generator);
 
  void sampleUniform(::ompl::base::State* _state) override;
 
  void sampleUniformNear(
      ::ompl::base::State* _state,
      const ::ompl::base::State* _near,
      double distance) override;
 
  void sampleGaussian(
      ::ompl::base::State* _state,
      const ::ompl::base::State* _mean,
      double stdDev) override;
 
private:
  std::unique_ptr<aikido::constraint::SampleGenerator> mGenerator;
};
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#endif