sampling_api.hpp

#ifndef SAMPLING_API_HPP
#define SAMPLING_API_HPP

#ifndef CONFIGURATION_HPP
class Configuration;
#endif
#ifndef LOCALPATH_HPP
class LocalPath;
#endif

#include <tr1/memory>

class Robot;

class SamplingAPI
{
protected:
        Robot* mR;

public:
        SamplingAPI(Robot* r) : mR(r) {}

        virtual ~SamplingAPI();

        virtual std::tr1::shared_ptr<Configuration> sample(bool samplePassive = true);

        std::tr1::shared_ptr<Configuration> shootCollisionFree();
};

#endif