RnConstantSampler.hpp

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#ifndef AIKIDO_CONSTRAINT_UNIFORM_RNCONSTANTSAMPLER_HPP_
#define AIKIDO_CONSTRAINT_UNIFORM_RNCONSTANTSAMPLER_HPP_
 
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/statespace/Rn.hpp"
 
namespace aikido {
namespace constraint {
namespace uniform {
 
template <int N>
class RConstantSampler : public constraint::Sampleable
{
public:
  using VectorNd = Eigen::Matrix<double, N, 1>;
 
  RConstantSampler(
      std::shared_ptr<const statespace::R<N>> _space, const VectorNd& _value);
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::unique_ptr<constraint::SampleGenerator> createSampleGenerator()
      const override;
 
  const VectorNd& getConstantValue() const;
 
private:
  std::shared_ptr<const statespace::R<N>> mSpace;
  VectorNd mValue;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(VectorNd::NeedsToAlign)
};
 
using R0ConstantSampler = RConstantSampler<0>;
using R1ConstantSampler = RConstantSampler<1>;
using R2ConstantSampler = RConstantSampler<2>;
using R3ConstantSampler = RConstantSampler<3>;
using R6ConstantSampler = RConstantSampler<6>;
using RnConstantSampler = RConstantSampler<Eigen::Dynamic>;
 
} // namespace uniform
} // namespace constraint
} // namespace aikido
 
#include "aikido/constraint/uniform/detail/RnConstantSampler-impl.hpp"
 
#endif // AIKIDO_CONSTRAINT_UNIFORM_RNCONSTANTSAMPLER_HPP_