sampler_se2_disk-inl.h

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#ifndef FCL_MATH_SAMPLERSE2DISK_INL_H
#define FCL_MATH_SAMPLERSE2DISK_INL_H

#include "fcl/math/sampler/sampler_se2_disk.h"

namespace fcl
{

//==============================================================================
extern template
class SamplerSE2_disk<double>;

//==============================================================================
template <typename S>
SamplerSE2_disk<S>::SamplerSE2_disk()
{
  // Do nothing
}

//==============================================================================
template <typename S>
SamplerSE2_disk<S>::SamplerSE2_disk(S cx, S cy, S r1, S r2, S crefx, S crefy)
{
  setBound(cx, cy, r1, r2, crefx, crefy);
}

//==============================================================================
template <typename S>
void SamplerSE2_disk<S>::setBound(S cx, S cy, S r1, S r2, S crefx, S crefy)
{
  c[0] = cx; c[1] = cy;
  cref[0] = crefx; cref[1] = crefy;
  r_min = r1;
  r_max = r2;
}

//==============================================================================
template <typename S>
Vector3<S> SamplerSE2_disk<S>::sample() const
{
  Vector3<S> q;
  S x, y;
  this->rng.disk(r_min, r_max, x, y);
  q[0] = x + c[0] - cref[0];
  q[1] = y + c[1] - cref[1];
  q[2] = this->rng.uniformReal(-constants<S>::pi(), constants<S>::pi());

  return q;
}

} // namespace fcl

#endif