ompl/geometric/planners/cforest/CForestStateSampler.h
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00034 
00035 /* Author: Javier V. Gómez */
00036 
00037 #ifndef OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
00038 #define OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 
00042 #include <boost/thread/mutex.hpp>
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00051         class CForestStateSampler : public StateSampler
00052         {
00053         public:
00054 
00056             CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler) : StateSampler(space), sampler_(sampler)
00057             {
00058             }
00059 
00061             ~CForestStateSampler()
00062             {
00063                 clear();
00064             }
00065 
00068             virtual void sampleUniform(State *state);
00069 
00072             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00073 
00076             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00077 
00078             const StateSpace* getStateSpace() const
00079             {
00080                 return space_;
00081             }
00082 
00085             void setStatesToSample(const std::vector<const State *> &states);
00086 
00087             void clear();
00088 
00089         protected:
00090 
00092             void getNextSample(State *state);
00093 
00095             std::vector<State*> statesToSample_;
00096 
00098             StateSamplerPtr sampler_;
00099 
00101             boost::mutex statesLock_;
00102         };
00103 
00104     }
00105 }
00106 
00107 #endif
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