An ES6 way of doing this would be to use an Arrow Function. Basically, when you use an arrow function, it does not create it's own "this" context. So, using "this" would then refer to the parent function's context. Here's how the code would look:
sampleObject.prototype.getFoo = function() {
const nested = () => {
return this.foo; //"this" refers to parent function's context
}
return nested;
}