sampler_se3_quat_ball-inl.h

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#ifndef FCL_MATH_SAMPLERSE3QUATBALL_INL_H
#define FCL_MATH_SAMPLERSE3QUATBALL_INL_H

#include "fcl/math/sampler/sampler_se3_quat_ball.h"

namespace fcl
{

//==============================================================================
extern template
class SamplerSE3Quat_ball<double>;

//==============================================================================
template <typename S>
SamplerSE3Quat_ball<S>::SamplerSE3Quat_ball()
{
  // Do nothing
}

//==============================================================================
template <typename S>
SamplerSE3Quat_ball<S>::SamplerSE3Quat_ball(S r_) : r(r_)
{
  // Do nothing
}

//==============================================================================
template <typename S>
void SamplerSE3Quat_ball<S>::setBound(const S& r_)
{
  r = r_;
}

//==============================================================================
template <typename S>
void SamplerSE3Quat_ball<S>::getBound(S& r_) const
{
  r_ = r;
}

//==============================================================================
template <typename S>
Vector7<S> SamplerSE3Quat_ball<S>::sample() const
{
  Vector7<S> q;
  S x, y, z;
  this->rng.ball(0, r, x, y, z);
  q[0] = x;
  q[1] = y;
  q[2] = z;

  S s[4];
  this->rng.quaternion(s);

  q[3] = s[0];
  q[4] = s[1];
  q[5] = s[2];
  q[6] = s[3];
  return q;
}

} // namespace fcl

#endif