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/* Author: Ioan Sucan */

#include "ompl/base/StateSampler.h"
#include <vector>

namespace ompl
{
    namespace base
    {
        /** \brief State space sampler for discrete states */
        class PrecomputedStateSampler : public StateSampler
        {
        public:
            /** \brief Constructor. Takes the state space to be sampled (\e space) and the set of states to draw samples
             * from (\e states) */
            PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states);

            /** \brief Constructor. Takes the state space to be sampled (\e space), the set of states to draw samples
             * from (\e states) and a range to sample from: [\e minIndex, \e maxIndex]*/
            PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states,
                                    std::size_t minStateIndex, std::size_t maxStateIndex);

            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;

        protected:
            /** \brief The states to sample from */
            const std::vector<const State *> &states_;

            /** \brief The minimum index to start sampling at */
            std::size_t minStateIndex_;

            /** \brief The maximum index to stop sampling at */
            std::size_t maxStateIndex_;
        };
    }
}
