//============================================================================== bool SE2BoxConstraintSampleGenerator::sample( statespace::StateSpace::State* _state) { Eigen::Vector3d tangent; for (auto i = 0; i < tangent.size(); ++i) tangent[i] = mDistributions[i](*mRng); mSpace->expMap(tangent, static_cast<statespace::SE2::State*>(_state)); return true; }