37 #ifndef OMPL_BASE_STATE_SAMPLER_
38 #define OMPL_BASE_STATE_SAMPLER_
40 #include "ompl/base/State.h"
41 #include "ompl/util/RandomNumbers.h"
42 #include "ompl/util/ClassForward.h"
45 #include <boost/function.hpp>
46 #include <boost/noncopyable.hpp>
83 virtual void sampleUniformNear(State *state,
const State *near,
const double distance) = 0;
86 virtual void sampleGaussian(State *state,
const State *mean,
const double stdDev) = 0;
137 unsigned int samplerCount_;