37 #include "ompl/control/ControlSampler.h"
38 #include "ompl/control/ControlSpace.h"
57 return rng_.uniformInt(minSteps, maxSteps);
62 samplers_.push_back(sampler);
63 samplerCount_ = samplers_.size();
69 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
70 samplers_[i]->sample(comps[i]);
76 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
77 samplers_[i]->sample(comps[i], state);
84 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
85 samplers_[i]->sampleNext(comps[i], prev[i]);
92 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
93 samplers_[i]->sampleNext(comps[i], prev[i], state);