sampler_se3_euler-inl.h
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35 
38 #ifndef FCL_MATH_SAMPLERSE3EULER_INL_H
39 #define FCL_MATH_SAMPLERSE3EULER_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT SamplerSE3Euler<double>;
49 
50 //==============================================================================
51 template <typename S>
53 {
54  // Do nothing
55 }
56 
57 //==============================================================================
58 template <typename S>
59 SamplerSE3Euler<S>::SamplerSE3Euler(const Vector3<S>& lower_bound_, const Vector3<S>& upper_bound_) : lower_bound(lower_bound_),
60  upper_bound(upper_bound_)
61 {
62  // Do nothing
63 }
64 
65 //==============================================================================
66 template <typename S>
68 {
69  Vector6<S> q;
70  q[0] = this->rng.uniformReal(lower_bound[0], upper_bound[0]);
71  q[1] = this->rng.uniformReal(lower_bound[1], upper_bound[1]);
72  q[2] = this->rng.uniformReal(lower_bound[2], upper_bound[2]);
73 
74  S s[4];
75  this->rng.quaternion(s);
76 
77  Quaternion<S> quat(s[0], s[1], s[2], s[3]);
78  Vector3<S> angles = quat.toRotationMatrix().eulerAngles(0, 1, 2);
79 
80  q[3] = angles[0];
81  q[4] = angles[1];
82  q[5] = angles[2];
83 
84  return q;
85 }
86 
87 //==============================================================================
88 template <typename S>
89 void SamplerSE3Euler<S>::getBound(Vector3<S>& lower_bound_, Vector3<S>& upper_bound_) const
90 {
91  lower_bound_ = lower_bound;
92  upper_bound_ = upper_bound;
93 }
94 
95 //==============================================================================
96 template <typename S>
97 void SamplerSE3Euler<S>::setBound(const Vector3<S>& lower_bound_, const Vector3<S>& upper_bound_)
98 
99 {
100  lower_bound = lower_bound_;
101  upper_bound = upper_bound_;
102 }
103 
104 } // namespace fcl
105 
106 #endif
fcl::SamplerSE3Euler::getBound
void getBound(Vector3< S > &lower_bound_, Vector3< S > &upper_bound_) const
Definition: sampler_se3_euler-inl.h:89
fcl::Quaternion
Eigen::Quaternion< S > Quaternion
Definition: types.h:88
fcl::SamplerSE3Euler< double >
template class FCL_EXPORT SamplerSE3Euler< double >
fcl::Vector6
Eigen::Matrix< S, 6, 1 > Vector6
Definition: types.h:73
fcl::SamplerSE3Euler::sample
Vector6< S > sample() const
Definition: sampler_se3_euler-inl.h:67
sampler_se3_euler.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::SamplerSE3Euler::SamplerSE3Euler
SamplerSE3Euler()
Definition: sampler_se3_euler-inl.h:52
fcl::SamplerSE3Euler::setBound
void setBound(const Vector3< S > &lower_bound_, const Vector3< S > &upper_bound_)
Definition: sampler_se3_euler-inl.h:97
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:42