37 #ifndef OMPL_CONTROL_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_CONTROL_SAMPLER_
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/RandomNumbers.h"
43 #include "ompl/util/ClassForward.h"
45 #include <boost/function.hpp>
46 #include <boost/noncopyable.hpp>
54 OMPL_CLASS_FORWARD(ControlSpace);
59 OMPL_CLASS_FORWARD(ControlSampler);
86 virtual void sample(Control *control) = 0;
105 virtual void sampleNext(Control *control,
const Control *previous);
117 virtual unsigned int sampleStepCount(
unsigned int minSteps,
unsigned int maxSteps);
162 unsigned int samplerCount_;