37 #ifndef OMPL_BASE_STATE_SAMPLER_ARRAY_
38 #define OMPL_BASE_STATE_SAMPLER_ARRAY_
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/StateSampler.h"
42 #include "ompl/base/ValidStateSampler.h"
74 struct SamplerSelector<ValidStateSampler>
76 typedef ValidStateSampler Sampler;
77 typedef ValidStateSamplerPtr SamplerPtr;
79 SamplerPtr allocStateSampler(
const SpaceInformation *si)
81 return si->allocValidStateSampler();
116 return samplers_[index].get();
122 if (samplers_.size() > count)
123 samplers_.resize(count);
125 if (samplers_.size() < count)
127 std::size_t c = samplers_.size();
128 samplers_.resize(count);
129 for (std::size_t i = c ; i < count ; ++i)
130 samplers_[i] = ss_.allocStateSampler(si_);
137 return samplers_.size();
150 std::vector<SamplerPtr> samplers_;