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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_

#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/StateSampler.h"

namespace ompl
{
    namespace base
    {
        /** \brief Generate valid samples using the Gaussian sampling strategy */
        class GaussianValidStateSampler : public ValidStateSampler
        {
        public:
            /** \brief Constructor */
            GaussianValidStateSampler(const SpaceInformation *si);

            ~GaussianValidStateSampler() override = default;

            bool sample(State *state) override;
            bool sampleNear(State *state, const State *near, const double distance) override;

            /** \brief Get the standard deviation used when sampling */
            double getStdDev() const
            {
                return stddev_;
            }

            /** \brief Set the standard deviation to use when sampling */
            void setStdDev(double stddev)
            {
                stddev_ = stddev;
            }

        protected:
            /** \brief The sampler to build upon */
            StateSamplerPtr sampler_;

            /** \brief The standard deviation to use in the sampling process */
            double stddev_;
        };
    }
}

#endif
