37 #include "ompl/base/samplers/UniformValidStateSampler.h"
38 #include "ompl/base/SpaceInformation.h"
48 unsigned int attempts = 0;
52 sampler_->sampleUniform(state);
53 valid = si_->isValid(state);
55 }
while (!valid && attempts < attempts_);
61 unsigned int attempts = 0;
65 sampler_->sampleUniformNear(state, near, distance);
66 valid = si_->isValid(state);
68 }
while (!valid && attempts < attempts_);