void ompl::control::GridDecomposition::sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const
{
coord.resize(dimension_);
const base::RealVectorBounds& regionBounds(getRegionBounds(rid));
for (int i = 0; i < dimension_; ++i)
coord[i] = rng.uniformReal(regionBounds.low[i], regionBounds.high[i]);
}
static double avgRealsN(double s, double l, const int N)
{
RNG r;
double sum = 0.0;
for (int i = 0 ; i < N ; ++i)
sum += r.uniformReal(s, l);
return sum / (double)N;
}