ompl::base::ValidStateSamplerPtr ompl::base::SpaceInformation::allocValidStateSampler() const { if (vssa_) return vssa_(this); else return std::make_shared<UniformValidStateSampler>(this); }
ompl::base::ValidStateSamplerPtr ompl::base::SpaceInformation::allocValidStateSampler(void) const { if (vssa_) return vssa_(this); else return ValidStateSamplerPtr(new UniformValidStateSampler(this)); }