From 94bddcba62d1390d5aa8e47a6007d890154e202e Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 17 Jun 2014 09:53:01 +0200
Subject: [PATCH] Sample between lower bound and upper bound in
SampleSE2::sample.
This fixes test_fcl_simple.
---
include/fcl/math/sampling.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/fcl/math/sampling.h b/include/fcl/math/sampling.h
index 5ce22767..29a4ce93 100644
--- a/include/fcl/math/sampling.h
+++ b/include/fcl/math/sampling.h
@@ -184,8 +184,8 @@ public:
Vecnf<3> sample() const
{
Vecnf<3> q;
- q[0] = rng.uniformReal(lower_bound[0], lower_bound[1]);
- q[1] = rng.uniformReal(lower_bound[1], lower_bound[2]);
+ q[0] = rng.uniformReal(lower_bound[0], upper_bound[0]);
+ q[1] = rng.uniformReal(lower_bound[1], upper_bound[1]);
q[2] = rng.uniformReal(-boost::math::constants::pi<FCL_REAL>(),
boost::math::constants::pi<FCL_REAL>());
--
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