void GenericIKSolver::setJointsRandom()
{
std::vector<float> jv;
float rn = 1.0f / (float)RAND_MAX;
for (unsigned int i=0; i<rns->getSize(); i++)
{
RobotNodePtr ro = rns->getNode(i);
float r = (float)rand() * rn;
float v = ro->getJointLimitLo() + (ro->getJointLimitHi() - ro->getJointLimitLo()) * r;
jv.push_back(v);
}
RobotPtr rob = rns->getRobot();
rob->setJointValues(rns,jv);
if (translationalJoint)
{
translationalJoint->setJointValue(initialTranslationalJointValue);
}
}
