| Directory: | ./ |
|---|---|
| File: | include/hpp/core/configuration-shooter/uniform-tpl.hxx |
| Date: | 2024-08-10 11:29:48 |
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| Lines: | 11 | 14 | 78.6% |
| Branches: | 9 | 28 | 32.1% |
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| 1 | // Copyright (c) 2023 Eureka Robotics | ||
| 2 | // Authors: Joseph Mirabel | ||
| 3 | |||
| 4 | #ifndef HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HXX | ||
| 5 | #define HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HXX | ||
| 6 | |||
| 7 | #include <hpp/core/configuration-shooter/uniform-tpl.hh> | ||
| 8 | #include <hpp/pinocchio/liegroup-space.hh> | ||
| 9 | #include <pinocchio/multibody/model.hpp> | ||
| 10 | |||
| 11 | namespace hpp { | ||
| 12 | namespace core { | ||
| 13 | namespace configurationShooter { | ||
| 14 | |||
| 15 | template <class generator_t> | ||
| 16 | 210 | void UniformTpl<generator_t>::impl_shoot(Configuration_t& config) const { | |
| 17 | typedef std::uniform_real_distribution<value_type> distribution_t; | ||
| 18 | |||
| 19 |
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210 | if (!robot_->configSpace()->isVectorSpace()) { |
| 20 | ✗ | throw std::invalid_argument( | |
| 21 | "The device config space must be a vector space" | ||
| 22 | " to use UniformTpl"); | ||
| 23 | } | ||
| 24 | |||
| 25 | 210 | config.resize(robot_->configSize()); | |
| 26 | 210 | auto const& model = robot_->model(); | |
| 27 | |||
| 28 |
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420 | for (size_type i = 0; i < model.nq; ++i) { |
| 29 |
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210 | distribution_t distrib(model.lowerPositionLimit[i], |
| 30 |
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210 | model.upperPositionLimit[i]); |
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210 | config[i] = distrib(generator_); |
| 32 | } | ||
| 33 | 210 | auto const& ecs = robot_->extraConfigSpace(); | |
| 34 |
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210 | for (size_type i = 0; i < ecs.dimension(); ++i) { |
| 35 | ✗ | distribution_t distrib(ecs.lower(i), ecs.upper(i)); | |
| 36 | ✗ | config[model.nq + i] = distrib(generator_); | |
| 37 | } | ||
| 38 | 210 | } | |
| 39 | |||
| 40 | } // namespace configurationShooter | ||
| 41 | } // namespace core | ||
| 42 | } // namespace hpp | ||
| 43 | |||
| 44 | #endif // HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HXX | ||
| 45 |