ompl::control::ControlSamplerPtr ompl::control::CompoundControlSpace::allocDefaultControlSampler(void) const { CompoundControlSampler *ss = new CompoundControlSampler(this); for (unsigned int i = 0 ; i < componentCount_ ; ++i) ss->addSampler(components_[i]->allocControlSampler()); return ControlSamplerPtr(ss); }
ompl::control::ControlSamplerPtr ompl::control::RealVectorControlSpace::allocDefaultControlSampler() const { return ControlSamplerPtr(new RealVectorControlUniformSampler(this)); }