YourSample.cpp

#include <chrono>
#include <rl/plan/SimpleModel.h>
#include "YourSampler.h"

namespace rl
{
    namespace plan
    {
        YourSampler::YourSampler() :
            Sampler(),
            randDistribution(0, 1),
            randEngine(::std::random_device()())
        {
        }

        YourSampler::~YourSampler()
        {
        }

        ::rl::math::Vector
            YourSampler::generate()
        {
            ::rl::math::Vector rand(this->model->getDof());

            for (::std::size_t i = 0; i < this->model->getDof(); ++i)
            {
                rand(i) = this->rand();
            }

            return this->model->generatePositionUniform(rand);
        }

        ::std::uniform_real_distribution< ::rl::math::Real>::result_type
            YourSampler::rand()
        {
            return this->randDistribution(this->randEngine);
        }

        void
            YourSampler::seed(const ::std::mt19937::result_type& value)
        {
            this->randEngine.seed(value);
        }
    }
}