sampler_se3_euler_ball-inl.h
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35 
38 #ifndef FCL_MATH_SAMPLERSE3EULERBALL_INL_H
39 #define FCL_MATH_SAMPLERSE3EULERBALL_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT SamplerSE3Euler_ball<double>;
49 
50 //==============================================================================
51 template <typename S>
53 {
54  // Do nothing
55 }
56 
57 //==============================================================================
58 template <typename S>
60 {
61  // Do nothing
62 }
63 
64 //==============================================================================
65 template <typename S>
67 {
68  r = r_;
69 }
70 
71 //==============================================================================
72 template <typename S>
74 {
75  r_ = r;
76 }
77 
78 //==============================================================================
79 template <typename S>
81 {
82  Vector6<S> q;
83  S x, y, z;
84  this->rng.ball(0, r, x, y, z);
85  q[0] = x;
86  q[1] = y;
87  q[2] = z;
88 
89  S s[4];
90  this->rng.quaternion(s);
91 
92  Quaternion<S> quat(s[0], s[1], s[2], s[3]);
93  Vector3<S> angles = quat.toRotationMatrix().eulerAngles(0, 1, 2);
94  q[3] = angles[0];
95  q[4] = angles[1];
96  q[5] = angles[2];
97 
98  return q;
99 }
100 
101 } // namespace fcl
102 
103 #endif
fcl::SamplerSE3Euler_ball::sample
Vector6< S > sample() const
Definition: sampler_se3_euler_ball-inl.h:80
fcl::SamplerSE3Euler_ball::setBound
void setBound(const S &r_)
Definition: sampler_se3_euler_ball-inl.h:66
fcl::Quaternion
Eigen::Quaternion< S > Quaternion
Definition: types.h:88
fcl::Vector6
Eigen::Matrix< S, 6, 1 > Vector6
Definition: types.h:73
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::SamplerSE3Euler_ball< double >
template class FCL_EXPORT SamplerSE3Euler_ball< double >
r
S r
Definition: test_sphere_box.cpp:171
fcl::SamplerSE3Euler_ball::getBound
void getBound(S &r_) const
Definition: sampler_se3_euler_ball-inl.h:73
sampler_se3_euler_ball.h
fcl::SamplerSE3Euler_ball::SamplerSE3Euler_ball
SamplerSE3Euler_ball()
Definition: sampler_se3_euler_ball-inl.h:52
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


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