.. _program_listing_file_src_ompl_base_StateSamplerArray.h:

Program Listing for File StateSamplerArray.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_StateSamplerArray.h>` (``src/ompl/base/StateSamplerArray.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_BASE_STATE_SAMPLER_ARRAY_
   #define OMPL_BASE_STATE_SAMPLER_ARRAY_
   
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/base/StateSampler.h"
   #include "ompl/base/ValidStateSampler.h"
   #include <vector>
   
   namespace ompl
   {
       namespace base
       {
           template <typename T>
           struct SamplerSelector
           {
           };
   
           template <>
           struct SamplerSelector<StateSampler>
           {
               using Sampler = StateSampler;
               using SamplerPtr = StateSamplerPtr;
   
               SamplerPtr allocStateSampler(const SpaceInformation *si)
               {
                   return si->allocStateSampler();
               }
           };
   
           template <>
           struct SamplerSelector<ValidStateSampler>
           {
               using Sampler = ValidStateSampler;
               using SamplerPtr = ValidStateSamplerPtr;
   
               SamplerPtr allocStateSampler(const SpaceInformation *si)
               {
                   return si->allocValidStateSampler();
               }
           };
           template <typename T>
           class StateSamplerArray
           {
           public:
               using SamplerPtr = typename SamplerSelector<T>::SamplerPtr;
   
               using Sampler = typename SamplerSelector<T>::Sampler;
   
               StateSamplerArray(const SpaceInformationPtr &si) : si_(si.get())
               {
               }
   
               StateSamplerArray(const SpaceInformation *si) : si_(si)
               {
               }
   
               ~StateSamplerArray() = default;
   
               Sampler *operator[](std::size_t index) const
               {
                   return samplers_[index].get();
               }
   
               void resize(std::size_t count)
               {
                   if (samplers_.size() > count)
                       samplers_.resize(count);
                   else if (samplers_.size() < count)
                   {
                       samplers_.resize(count);
                       for (auto &sampler : samplers_)
                           sampler = ss_.allocStateSampler(si_);
                   }
               }
   
               std::size_t size() const
               {
                   return samplers_.size();
               }
   
               void clear()
               {
                   resize(0);
               }
   
           private:
               const SpaceInformation *si_;
               SamplerSelector<T> ss_;
               std::vector<SamplerPtr> samplers_;
           };
       }
   }
   
   #endif