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/** @author Jia Pan */

#ifndef FCL_MATH_SAMPLERSE3EULER_INL_H
#define FCL_MATH_SAMPLERSE3EULER_INL_H

#include "fcl/math/sampler/sampler_se3_euler.h"

namespace fcl
{

//==============================================================================
extern template
class FCL_EXPORT SamplerSE3Euler<double>;

//==============================================================================
template <typename S>
SamplerSE3Euler<S>::SamplerSE3Euler()
{
  // Do nothing
}

//==============================================================================
template <typename S>
SamplerSE3Euler<S>::SamplerSE3Euler(const Vector3<S>& lower_bound_, const Vector3<S>& upper_bound_) : lower_bound(lower_bound_),
  upper_bound(upper_bound_)
{
  // Do nothing
}

//==============================================================================
template <typename S>
Vector6<S> SamplerSE3Euler<S>::sample() const
{
  Vector6<S> q;
  q[0] = this->rng.uniformReal(lower_bound[0], upper_bound[0]);
  q[1] = this->rng.uniformReal(lower_bound[1], upper_bound[1]);
  q[2] = this->rng.uniformReal(lower_bound[2], upper_bound[2]);

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

  Quaternion<S> quat(s[0], s[1], s[2], s[3]);
  Vector3<S> angles = quat.toRotationMatrix().eulerAngles(0, 1, 2);

  q[3] = angles[0];
  q[4] = angles[1];
  q[5] = angles[2];

  return q;
}

//==============================================================================
template <typename S>
void SamplerSE3Euler<S>::getBound(Vector3<S>& lower_bound_, Vector3<S>& upper_bound_) const
{
  lower_bound_ = lower_bound;
  upper_bound_ = upper_bound;
}

//==============================================================================
template <typename S>
void SamplerSE3Euler<S>::setBound(const Vector3<S>& lower_bound_, const Vector3<S>& upper_bound_)

{
  lower_bound = lower_bound_;
  upper_bound = upper_bound_;
}

} // namespace fcl

#endif
