cmake
, type “make update_bindings
”.cmake
again after adding new files.#include "ompl/base/samplers/ObstacleBasedValidStateSampler.h" ... ompl::base::ValidStateSamplerPtr allocValidStateSampler(const ompl::base::SpaceInformation *si) { return ompl::base::ValidStateSamplerPtr(new ompl::base::ObstacleBasedValidStateSampler(si)); } ... ompl::base::StateSpacePtr space(...); ompl::base::SpaceInformationPtr si(new ompl::base::SpaceInformation(space)); si->setValidStateSamplerAllocator(boost::bind(&allocValidStateSampler, _1)); // for simplified calls, you can also use: // si->setValidStateSamplerAllocator(&allocValidStateSampler);
If your question is still not answered, another good place to check is the mailing list archive.