GaussianSampler.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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#ifndef _RL_PLAN_GAUSSIANSAMPLER_H_
#define _RL_PLAN_GAUSSIANSAMPLER_H_
 
#include <boost/random/normal_distribution.hpp>
 
#include "UniformSampler.h"
 
namespace rl
{
    namespace plan
    {
        class GaussianSampler : public UniformSampler
        {
        public:
            GaussianSampler();
            
            virtual ~GaussianSampler();
            
            void generateCollisionFree(::rl::math::Vector& q);
            
            virtual void seed(const ::boost::mt19937::result_type& value);
            
            ::rl::math::Vector* sigma;
            
        protected:
            ::boost::variate_generator< ::boost::mt19937, ::boost::normal_distribution< ::rl::math::Real > > gauss;
            
        private:
            
        };
    }
}
 
#endif // _RL_PLAN_GAUSSIANSAMPLER_H_