sampler_se3_euler_ball.h

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#ifndef FCL_MATH_SAMPLERSE3EULERBALL_H
#define FCL_MATH_SAMPLERSE3EULERBALL_H

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

namespace fcl
{

template <typename S>
class SamplerSE3Euler_ball : public SamplerBase<S>
{
public:
  SamplerSE3Euler_ball();

  SamplerSE3Euler_ball(S r_);

  void setBound(const S& r_);
  
  void getBound(S& r_) const;

  Vector6<S> sample() const;

protected:
  S r;

};

using SamplerSE3Euler_ballf = SamplerSE3Euler_ball<float>;
using SamplerSE3Euler_balld = SamplerSE3Euler_ball<double>;

} // namespace fcl

#include "fcl/math/sampler/sampler_se3_euler_ball-inl.h"

#endif