sampler_se2_disk-inl.h
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35 
38 #ifndef FCL_MATH_SAMPLERSE2DISK_INL_H
39 #define FCL_MATH_SAMPLERSE2DISK_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT SamplerSE2_disk<double>;
49 
50 //==============================================================================
51 template <typename S>
53 {
54  // Do nothing
55 }
56 
57 //==============================================================================
58 template <typename S>
59 SamplerSE2_disk<S>::SamplerSE2_disk(S cx, S cy, S r1, S r2, S crefx, S crefy)
60 {
61  setBound(cx, cy, r1, r2, crefx, crefy);
62 }
63 
64 //==============================================================================
65 template <typename S>
66 void SamplerSE2_disk<S>::setBound(S cx, S cy, S r1, S r2, S crefx, S crefy)
67 {
68  c[0] = cx; c[1] = cy;
69  cref[0] = crefx; cref[1] = crefy;
70  r_min = r1;
71  r_max = r2;
72 }
73 
74 //==============================================================================
75 template <typename S>
77 {
78  Vector3<S> q;
79  S x, y;
80  this->rng.disk(r_min, r_max, x, y);
81  q[0] = x + c[0] - cref[0];
82  q[1] = y + c[1] - cref[1];
83  q[2] = this->rng.uniformReal(-constants<S>::pi(), constants<S>::pi());
84 
85  return q;
86 }
87 
88 } // namespace fcl
89 
90 #endif
fcl::SamplerSE2_disk< double >
template class FCL_EXPORT SamplerSE2_disk< double >
sampler_se2_disk.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::SamplerSE2_disk::sample
Vector3< S > sample() const
Definition: sampler_se2_disk-inl.h:76
fcl::SamplerSE2_disk::setBound
void setBound(S cx, S cy, S r1, S r2, S crefx, S crefy)
Definition: sampler_se2_disk-inl.h:66
fcl::constants
Definition: constants.h:129
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::SamplerSE2_disk::SamplerSE2_disk
SamplerSE2_disk()
Definition: sampler_se2_disk-inl.h:52


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