sampler_se3_quat_ball.h

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#ifndef FCL_MATH_SAMPLERSE3QUATBALL_H
#define FCL_MATH_SAMPLERSE3QUATBALL_H
 
#include "fcl/common/types.h"
#include "fcl/math/sampler/sampler_base.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT SamplerSE3Quat_ball : public SamplerBase<S>
{
public:
  SamplerSE3Quat_ball();
 
  SamplerSE3Quat_ball(S r_);
 
  void setBound(const S& r_);
 
  void getBound(S& r_) const;
 
  Vector7<S> sample() const;
 
protected:
  S r;
};
 
using SamplerSE3Quat_ballf = SamplerSE3Quat_ball<float>;
using SamplerSE3Quat_balld = SamplerSE3Quat_ball<double>;
 
} // namespace fcl
 
#include "fcl/math/sampler/sampler_se3_quat_ball-inl.h"
 
#endif