UniformValidStateSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_

#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/StateSampler.h"

namespace ompl
{
    namespace base
    {
        class UniformValidStateSampler : public ValidStateSampler
        {
        public:
            UniformValidStateSampler(const SpaceInformation *si);

            ~UniformValidStateSampler() override = default;

            bool sample(State *state) override;
            bool sampleNear(State *state, const State *near, double distance) override;

        protected:
            StateSamplerPtr sampler_;
        };
    }
}

#endif