sampler_r-inl.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2013-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_MATH_SAMPLERR_INL_H
39 #define FCL_MATH_SAMPLERR_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 template <typename S, std::size_t N>
49 {
50  // Do nothing
51 }
52 
53 //==============================================================================
54 template <typename S, std::size_t N>
55 SamplerR<S, N>::SamplerR(const VectorN<S, N>& lower_bound_, const VectorN<S, N>& upper_bound_)
56  : lower_bound(lower_bound_), upper_bound(upper_bound_)
57 {
58 }
59 
60 //==============================================================================
61 template <typename S, std::size_t N>
62 void SamplerR<S, N>::setBound(const VectorN<S, N>& lower_bound_, const VectorN<S, N>& upper_bound_)
63 {
64  lower_bound = lower_bound_;
65  upper_bound = upper_bound_;
66 }
67 
68 //==============================================================================
69 template <typename S, std::size_t N>
70 void SamplerR<S, N>::getBound(VectorN<S, N>& lower_bound_, VectorN<S, N>& upper_bound_) const
71 {
72  lower_bound_ = lower_bound;
73  upper_bound_ = upper_bound;
74 }
75 
76 //==============================================================================
77 template <typename S, std::size_t N>
79 {
80  VectorN<S, N> q;
81 
82  for(std::size_t i = 0; i < N; ++i)
83  {
84  q[i] = this->rng.uniformReal(lower_bound[i], upper_bound[i]);
85  }
86 
87  return q;
88 }
89 
90 } // namespace fcl
91 
92 #endif
fcl::VectorN
Eigen::Matrix< S, N, 1 > VectorN
Definition: types.h:79
fcl::SamplerR::setBound
void setBound(const VectorN< S, N > &lower_bound_, const VectorN< S, N > &upper_bound_)
Definition: sampler_r-inl.h:62
fcl::SamplerR::getBound
void getBound(VectorN< S, N > &lower_bound_, VectorN< S, N > &upper_bound_) const
Definition: sampler_r-inl.h:70
fcl::SamplerR::sample
VectorN< S, N > sample() const
Definition: sampler_r-inl.h:78
sampler_r.h
fcl::SamplerR::SamplerR
SamplerR()
Definition: sampler_r-inl.h:48
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
Author(s):
autogenerated on Sat Sep 11 2021 02:37:42