sampler_se3_quat-inl.h
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35 
38 #ifndef FCL_MATH_SAMPLERSE3QUAT_INL_H
39 #define FCL_MATH_SAMPLERSE3QUAT_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT SamplerSE3Quat<double>;
49 
50 //==============================================================================
51 template <typename S>
53 {
54  // Do nothing
55 }
56 
57 //==============================================================================
58 template <typename S>
59 SamplerSE3Quat<S>::SamplerSE3Quat(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>
67 void SamplerSE3Quat<S>::getBound(Vector3<S>& lower_bound_, Vector3<S>& upper_bound_) const
68 {
69  lower_bound_ = lower_bound;
70  upper_bound_ = upper_bound;
71 }
72 
73 //==============================================================================
74 template <typename S>
75 void SamplerSE3Quat<S>::setBound(const Vector3<S>& lower_bound_, const Vector3<S>& upper_bound_)
76 
77 {
78  lower_bound = lower_bound_;
79  upper_bound = upper_bound_;
80 }
81 
82 //==============================================================================
83 template <typename S>
85 {
86  Vector6<S> q;
87  q[0] = this->rng.uniformReal(lower_bound[0], upper_bound[0]);
88  q[1] = this->rng.uniformReal(lower_bound[1], upper_bound[1]);
89  q[2] = this->rng.uniformReal(lower_bound[2], upper_bound[2]);
90 
91  S s[4];
92  this->rng.quaternion(s);
93 
94  q[3] = s[0];
95  q[4] = s[1];
96  q[5] = s[2];
97  q[6] = s[3];
98  return q;
99 }
100 
101 } // namespace fcl
102 
103 #endif
fcl::SamplerSE3Quat::setBound
void setBound(const Vector3< S > &lower_bound_, const Vector3< S > &upper_bound_)
Definition: sampler_se3_quat-inl.h:75
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::SamplerSE3Quat::sample
Vector6< S > sample() const
Definition: sampler_se3_quat-inl.h:84
fcl::SamplerSE3Quat< double >
template class FCL_EXPORT SamplerSE3Quat< double >
fcl::SamplerSE3Quat::getBound
void getBound(Vector3< S > &lower_bound_, Vector3< S > &upper_bound_) const
Definition: sampler_se3_quat-inl.h:67
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
sampler_se3_quat.h
fcl::SamplerSE3Quat::SamplerSE3Quat
SamplerSE3Quat()
Definition: sampler_se3_quat-inl.h:52


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