/usr/include/ompl/base/PrecomputedStateSampler.h is in libompl-dev 0.14.2+dfsg-1.
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/* Author: Ioan Sucan */
#include "ompl/base/StateSampler.h"
#include <vector>
namespace ompl
{
namespace base
{
/** \brief State space sampler for discrete states */
class PrecomputedStateSampler : public StateSampler
{
public:
/** \brief Constructor. Takes the state space to be sampled (\e space) and the set of states to draw samples from (\e states) */
PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states);
/** \brief Constructor. Takes the state space to be sampled (\e space), the set of states to draw samples from (\e states) and a range to sample from: [\e minIndex, \e maxIndex]*/
PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states, std::size_t minIndex, std::size_t maxIndex);
virtual void sampleUniform(State *state);
virtual void sampleUniformNear(State *state, const State *near, const double distance);
virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
protected:
/** \brief The states to sample from */
const std::vector<const State*> &states_;
/** \brief The minimum index to start sampling at */
std::size_t minStateIndex_;
/** \brief The maximum index to stop sampling at */
std::size_t maxStateIndex_;
};
}
}
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