uniform-tpl.hh

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// Copyright (c) 2023 Eureka Robotics
// Authors: Joseph Mirabel
 
#ifndef HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HH
#define HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HH
 
#include <hpp/core/configuration-shooter.hh>
#include <hpp/pinocchio/device.hh>
#include <random>
 
namespace hpp {
namespace core {
namespace configurationShooter {


template <class generator_t>
class HPP_CORE_DLLAPI UniformTpl : public ConfigurationShooter {
 public:
  typedef shared_ptr<UniformTpl<generator_t>> Ptr_t;
  typedef weak_ptr<UniformTpl<generator_t>> WkPtr_t;
 
  static Ptr_t create(const DevicePtr_t& robot) {
    UniformTpl* ptr = new UniformTpl(robot);
    Ptr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  void seed(typename generator_t::result_type seed) { generator_.seed(seed); }
 
 protected:
  UniformTpl(const DevicePtr_t& robot) : robot_(robot) {}
  void init(const Ptr_t& self) {
    ConfigurationShooter::init(self);
    weak_ = self;
  }
 
  virtual void impl_shoot(Configuration_t& q) const;
 
 private:
  DevicePtr_t robot_;
  WkPtr_t weak_;
 
  // The generator must be mutable because impl_shoot is const and
  // generator_t::operator() is not.
  mutable generator_t generator_;
};  // class UniformTpl

 
typedef UniformTpl<std::default_random_engine> UniformSeedable;
 
}  // namespace configurationShooter
}  //   namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HH