FCL  0.6.0
Flexible Collision Library
sampler_r-inl.h
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35 
38 #ifndef FCL_MATH_SAMPLERR_INL_H
39 #define FCL_MATH_SAMPLERR_INL_H
40 
41 #include "fcl/math/sampler/sampler_r.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 template <typename S, std::size_t N>
48 SamplerR<S, N>::SamplerR()
49 {
50  // Do nothing
51 }
52 
53 //==============================================================================
54 template <typename S, std::size_t N>
55 SamplerR<S, N>::SamplerR(const VectorN<S, N>& lower_bound_, const VectorN<S, N>& upper_bound_)
56  : lower_bound(lower_bound_), upper_bound(upper_bound_)
57 {
58 }
59 
60 //==============================================================================
61 template <typename S, std::size_t N>
62 void SamplerR<S, N>::setBound(const VectorN<S, N>& lower_bound_, const VectorN<S, N>& upper_bound_)
63 {
64  lower_bound = lower_bound_;
65  upper_bound = upper_bound_;
66 }
67 
68 //==============================================================================
69 template <typename S, std::size_t N>
70 void SamplerR<S, N>::getBound(VectorN<S, N>& lower_bound_, VectorN<S, N>& upper_bound_) const
71 {
72  lower_bound_ = lower_bound;
73  upper_bound_ = upper_bound;
74 }
75 
76 //==============================================================================
77 template <typename S, std::size_t N>
78 VectorN<S, N> SamplerR<S, N>::sample() const
79 {
80  VectorN<S, N> q;
81 
82  for(std::size_t i = 0; i < N; ++i)
83  {
84  q[i] = this->rng.uniformReal(lower_bound[i], upper_bound[i]);
85  }
86 
87  return q;
88 }
89 
90 } // namespace fcl
91 
92 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45