PrecomputedStateSampler.h

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/* Author: Ioan Sucan */
 
#include "ompl/base/StateSampler.h"
#include <vector>
 
namespace ompl
{
    namespace base
    {
        class PrecomputedStateSampler : public StateSampler
        {
        public:
            PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states);

            PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states,
                                    std::size_t minStateIndex, std::size_t maxStateIndex);
 
            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
 
        protected:
            const std::vector<const State *> &states_;

            std::size_t minStateIndex_;

            std::size_t maxStateIndex_;
        };
    }  // namespace base
}  // namespace ompl