sampler.h

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/* Author: Zachary Kingston */

#ifndef SE2EZ_PLAN_SAMPLER_
#define SE2EZ_PLAN_SAMPLER_

#include <ompl/base/spaces/RealVectorStateSpace.h>

#include <se2ez/core/class_forward.h>

namespace se2ez
{

    namespace plan
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(StateSpace)
        /** \endcond */

        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(StateSampler)
        /** \endcond */

        class StateSampler : public ompl::base::RealVectorStateSampler
        {
        public:
            StateSampler(const StateSpace *space);
            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;
        };
    }  // namespace plan
}  // namespace se2ez

#endif