text: /*
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2013-2014, Willow Garage, Inc.
   *  Copyright (c) 2014-2016, Open Source Robotics Foundation
   *  All rights reserved.
   *
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   *  modification, are permitted provided that the following conditions
   *  are met:
   *
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   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Open Source Robotics Foundation nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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   */
  
  /** @author Jia Pan */
  
  #ifndef FCL_MATH_SAMPLERR_H
  #define FCL_MATH_SAMPLERR_H
  
  #include <cstddef>
  #include "fcl/common/types.h"
  #include "fcl/math/sampler/sampler_base.h"
  
  namespace fcl
  {
  
  template <typename S, std::size_t N>
  class SamplerR : public SamplerBase<S>
  {
  public:
    SamplerR();
  
    SamplerR(const VectorN<S, N>& lower_bound_,
             const VectorN<S, N>& upper_bound_);
  
    void setBound(const VectorN<S, N>& lower_bound_,
                  const VectorN<S, N>& upper_bound_);
  
    void getBound(VectorN<S, N>& lower_bound_,
                  VectorN<S, N>& upper_bound_) const;
  
    VectorN<S, N> sample() const;
  
  private:
    VectorN<S, N> lower_bound;
    VectorN<S, N> upper_bound;
  
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(S, N)
  
  };
  
  template <std::size_t N>
  using SamplerRf = SamplerR<float, N>;
  template <std::size_t N>
  using SamplerRd = SamplerR<double, N>;
  
  } // namespace fcl
  
  #include "fcl/math/sampler/sampler_r-inl.h"
  
  #endif
  