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/** @author Jia Pan */

#ifndef FCL_MATH_SAMPLERSE3QUAT_H
#define FCL_MATH_SAMPLERSE3QUAT_H

#include "fcl/common/types.h"
#include "fcl/math/sampler/sampler_base.h"

namespace fcl
{

template <typename S>
class FCL_EXPORT SamplerSE3Quat : public SamplerBase<S>
{
public:
  SamplerSE3Quat();

  SamplerSE3Quat(const Vector3<S>& lower_bound_,
                 const Vector3<S>& upper_bound_);

  void setBound(const Vector3<S>& lower_bound_,
                const Vector3<S>& upper_bound_);

  void getBound(Vector3<S>& lower_bound_,
                Vector3<S>& upper_bound_) const;

  Vector6<S> sample() const;

protected:
  Vector3<S> lower_bound;
  Vector3<S> upper_bound;

};

using SamplerSE3Quatf = SamplerSE3Quat<float>;
using SamplerSE3Quatd = SamplerSE3Quat<double>;

} // namespace fcl

#include "fcl/math/sampler/sampler_se3_quat-inl.h"

#endif
