CForestStateSampler.h

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/* Author: Javier V. Gómez */
 
#ifndef OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
 
#include "ompl/base/StateSpace.h"
 
#include <mutex>
#include <utility>
 
namespace ompl
{
    namespace base
    {
        class CForestStateSampler : public StateSampler
        {
        public:
            CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler)
              : StateSampler(space), sampler_(std::move(sampler))
            {
            }
 
            ~CForestStateSampler() override
            {
                clear();
            }
 
            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;
 
            const StateSpace *getStateSpace() const
            {
                return space_;
            }
 
            void setStatesToSample(const std::vector<const State *> &states);
 
            void clear();
 
        protected:
            void getNextSample(State *state);
 
            std::vector<State *> statesToSample_;
 
            StateSamplerPtr sampler_;
 
            std::mutex statesLock_;
        };
    }
}
 
#endif