SO3UniformSampler.hpp

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#ifndef AIKIDO_CONSTRAINT_UNIFORM_SO3UNIFORMSAMPLER_HPP_
#define AIKIDO_CONSTRAINT_UNIFORM_SO3UNIFORMSAMPLER_HPP_
 
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/statespace/SO3.hpp"
 
namespace aikido {
namespace constraint {
namespace uniform {
 
class SO3UniformSampler : public constraint::Sampleable
{
public:
  SO3UniformSampler(
      std::shared_ptr<const statespace::SO3> _space,
      std::unique_ptr<common::RNG> _rng);
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::unique_ptr<constraint::SampleGenerator> createSampleGenerator()
      const override;
 
private:
  std::shared_ptr<const statespace::SO3> mSpace;
  std::unique_ptr<common::RNG> mRng;
};
 
} // namespace uniform
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_UNIFORM_SO3UNIFORMSAMPLER_HPP_