RandomVertex.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/graphsampler/RandomVertex.h>
 
ompl::multilevel::BundleSpaceGraphSamplerRandomVertex::BundleSpaceGraphSamplerRandomVertex(
    BundleSpaceGraph *bundleSpaceGraph)
  : BaseT(bundleSpaceGraph)
{
}
 
void ompl::multilevel::BundleSpaceGraphSamplerRandomVertex::sampleImplementation(base::State *xRandom)
{
    const Vertex v = boost::random_vertex(bundleSpaceGraph_->getGraph(), rng_boost);
    bundleSpaceGraph_->getBundle()->getStateSpace()->copyState(xRandom, bundleSpaceGraph_->getGraph()[v]->state);
}