sampler_se2.h

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#ifndef FCL_MATH_SAMPLERSE2_H
#define FCL_MATH_SAMPLERSE2_H

#include "fcl/common/types.h"
#include "fcl/math/sampler/sampler_base.h"

namespace fcl
{

template <typename S>
class SamplerSE2 : public SamplerBase<S>
{
public:
  SamplerSE2();

  SamplerSE2(const Vector2<S>& lower_bound_,
             const Vector2<S>& upper_bound_);

  SamplerSE2(S x_min, S x_max,
             S y_min, S y_max);


  void setBound(const Vector2<S>& lower_bound_,
                const Vector2<S>& upper_bound_);

  void getBound(Vector2<S>& lower_bound_,
                Vector2<S>& upper_bound_) const;


  Vector3<S> sample() const;

protected:
  Vector2<S> lower_bound;
  Vector2<S> upper_bound;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

using SamplerSE2f = SamplerSE2<float>;
using SamplerSE2d = SamplerSE2<double>;

} // namespace fcl

#include "fcl/math/sampler/sampler_se2-inl.h"

#endif