CyclicSampleable.hpp

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#ifndef AIKIDO_CONSTRAINT_CYCLICSAMPLEABLE_HPP_
#define AIKIDO_CONSTRAINT_CYCLICSAMPLEABLE_HPP_
 
#include "aikido/constraint/Sampleable.hpp"
 
namespace aikido {
namespace constraint {
 
class CyclicSampleable : public Sampleable
{
public:
  explicit CyclicSampleable(SampleablePtr _sampleable);
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::unique_ptr<SampleGenerator> createSampleGenerator() const override;
 
private:
  SampleablePtr mSampleable;
  statespace::ConstStateSpacePtr mStateSpace;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_CYCLICSAMPLEABLE_HPP_