-
Notifications
You must be signed in to change notification settings - Fork 1
Expand file tree
/
Copy pathControlSpace_8h_source.html
More file actions
467 lines (465 loc) · 86.7 KB
/
ControlSpace_8h_source.html
File metadata and controls
467 lines (465 loc) · 86.7 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
<!-- HTML header for doxygen 1.14.0-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US" class="light-mode">
<head>
<meta name="color-scheme" content="light">
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.16.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>ompl: ompl/control/ControlSpace.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<script type="text/javascript" src="clipboard.js"></script>
<script type="text/javascript" src="cookie.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
$(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="ompl.css" rel="stylesheet" type="text/css"/>
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="demos.html">Demos</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<a class="dropdown-item" href="https://github.com/ompl/ompl">OMPL on GitHub</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<span id="MSearchSelect" class="search-icon" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()"><span class="search-icon-dropdown"></span></span>
<input type="text" id="MSearchField" value="" placeholder="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><div id="MSearchCloseImg" class="close-icon"></div></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.16.1 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search/",'.html');
</script>
<script type="text/javascript">
$(function() { codefold.init(); });
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><b>ompl</b></li><li class="navelem"><b>control</b></li> </ul>
</div>
</div><!-- top -->
<div id="doc-content">
<div class="header">
<div class="headertitle"><div class="title">ControlSpace.h</div></div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2010, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#ifndef OMPL_CONTROL_CONTROL_SPACE_</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#define OMPL_CONTROL_CONTROL_SPACE_</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/base/StateSpace.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "ompl/control/Control.h"</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include "ompl/control/ControlSampler.h"</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include "ompl/control/ControlSpaceTypes.h"</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include "<a class="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include "ompl/util/ClassForward.h"</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <boost/concept_check.hpp></span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <iostream></span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#include <vector></span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>{</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> {</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> OMPL_CLASS_FORWARD(<a class="code hl_class" href="classompl_1_1control_1_1ControlSpace.html">ControlSpace</a>);</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span></div>
<div class="foldopen" id="foldopen00063" data-start="{" data-end="};">
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html"> 63</a></span> <span class="keyword">class </span>ControlSpace</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> {</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#ac1f2d5ea7ca8066e42287338d55e3bbe"> 67</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classompl_1_1control_1_1ControlSpace.html#ac1f2d5ea7ca8066e42287338d55e3bbe">ControlType</a> = <a class="code hl_class" href="classompl_1_1control_1_1Control.html">ompl::control::Control</a>;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="comment">// non-copyable</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> ControlSpace(<span class="keyword">const</span> ControlSpace &) = <span class="keyword">delete</span>;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> ControlSpace &operator=(<span class="keyword">const</span> ControlSpace &) = <span class="keyword">delete</span>;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> ControlSpace(base::StateSpacePtr stateSpace);</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">virtual</span> ~ControlSpace();</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="foldopen" id="foldopen00080" data-start="{" data-end="}">
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#aa061c299e9a15685e494fddd4f3a35b3"> 80</a></span> T *<a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#aa061c299e9a15685e494fddd4f3a35b3">as</a>()</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> {</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T *<span class="keyword">></span>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> }</div>
</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="foldopen" id="foldopen00090" data-start="{" data-end="}">
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a2e5ca6e44abae7c433d78e0ba418f5fe"> 90</a></span> <span class="keyword">const</span> T *<a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a2e5ca6e44abae7c433d78e0ba418f5fe">as</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keyword">const </span>T *<span class="keyword">></span>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> }</div>
</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> std::string &<a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a8d4d96f52eb5ef8af387234def055005">getName</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d">setName</a>(<span class="keyword">const</span> std::string &name);</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span></div>
<div class="foldopen" id="foldopen00107" data-start="{" data-end="}">
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a640948a1a126edf2e6ecd341f1607b6c"> 107</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a640948a1a126edf2e6ecd341f1607b6c">getType</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df">type_</a>;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> }</div>
</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span></div>
<div class="foldopen" id="foldopen00113" data-start="{" data-end="}">
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a245051e8f5e44433c03e9478c626dee9"> 113</a></span> <span class="keyword">const</span> base::StateSpacePtr &<a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a245051e8f5e44433c03e9478c626dee9">getStateSpace</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">stateSpace_</a>;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> }</div>
</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#ac0db4716c6e243ee303e5273da9e6794"> 119</a></span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#ac0db4716c6e243ee303e5273da9e6794">getDimension</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a7e65078fbbddd0269359d040edc9fee8"> 122</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a7e65078fbbddd0269359d040edc9fee8">allocControl</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span></div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711"> 125</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711">freeControl</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span></div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee"> 128</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee">copyControl</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *destination, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *source) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8"> 131</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8">equalControls</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *control1, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *control2) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f"> 134</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f">nullControl</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a92ec45728c99bcbc2d8dce127687fa89"> 137</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a92ec45728c99bcbc2d8dce127687fa89">allocDefaultControlSampler</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a317bb364496fad19fd792253f9780938">allocControlSampler</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">setControlSamplerAllocator</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespaceompl_1_1control.html#a4649e6057d5e020af5a2e93a65eca025">ControlSamplerAllocator</a> &csa);</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span></div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#ad47a72cbf62af06147a324c906cf394e">clearControlSamplerAllocator</a>();</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span></div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">virtual</span> <span class="keywordtype">double</span> *<a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#adbb27f9ea57bcd3b8ad91fe8ef5d2a42">getValueAddressAtIndex</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#ac0733020cf25ff2cd6aedc979d50e187">printControl</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>, std::ostream &out) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a5446589551d62815158e62a7cb78346b">printSettings</a>(std::ostream &out) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span></div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a1d21669ebe1a4d0d68936ab459af9a1f">setup</a>();</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#af62de8cc9293911df87cf2cb2ae4bbc8">getSerializationLength</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a5bbdb02a33cc6ed480262778da1a99b2">serialize</a>(<span class="keywordtype">void</span> *serialization, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#adcd3724c133be477c59c5e435a437049">deserialize</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl, <span class="keyword">const</span> <span class="keywordtype">void</span> *serialization) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span></div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a715b01e3b40da2aee6a9ded70f3efccf">computeSignature</a>(std::vector<int> &signature) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span></div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#a47dd7e7b2523816ca9be02de84a66c5b">isCompound</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keyword">protected</span>:</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df"> 187</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df">type_</a>;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span></div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd"> 190</a></span> base::StateSpacePtr <a class="code hl_variable" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">stateSpace_</a>;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#aafc829af78b3a32e549bd6ed8f0bc8b0"> 193</a></span> <a class="code hl_typedef" href="namespaceompl_1_1control.html#a4649e6057d5e020af5a2e93a65eca025">ControlSamplerAllocator</a> <a class="code hl_variable" href="classompl_1_1control_1_1ControlSpace.html#aafc829af78b3a32e549bd6ed8f0bc8b0">csa_</a>;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> std::string name_;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> };</div>
</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span></div>
<div class="foldopen" id="foldopen00201" data-start="{" data-end="};">
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html"> 201</a></span> <span class="keyword">class </span><a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">CompoundControlSpace</a> : <span class="keyword">public</span> ControlSpace</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> {</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#ae823376c93dd222d632961ca2bd14daf"> 205</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classompl_1_1control_1_1CompoundControlSpace.html#ae823376c93dd222d632961ca2bd14daf">ControlType</a> = <a class="code hl_class" href="classompl_1_1control_1_1CompoundControl.html">ompl::control::CompoundControl</a>;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span></div>
<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214"> 208</a></span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">CompoundControlSpace</a>(<span class="keyword">const</span> base::StateSpacePtr &stateSpace)</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> : ControlSpace(stateSpace), <a class="code hl_variable" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">componentCount_</a>(0), <a class="code hl_variable" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">locked_</a>(false)</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> {</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> }</div>
</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> </div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <a class="code hl_class" href="classompl_1_1control_1_1CompoundControlSpace.html">~CompoundControlSpace</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="foldopen" id="foldopen00217" data-start="{" data-end="}">
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#a6a08eb3022ef0e0fb31a27fc08e90a27"> 217</a></span> T *<a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a6a08eb3022ef0e0fb31a27fc08e90a27">as</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T *<span class="keyword">></span>(<a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">getSubspace</a>(index).get());</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> }</div>
</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span></div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">addSubspace</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &component);</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span></div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a002a87ce1e4b2ea01ea9d5b47750c213">getSubspaceCount</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span></div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &<a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">getSubspace</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span></div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &<a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">getSubspace</a>(<span class="keyword">const</span> std::string &name) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> </div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a5e721ccefd5049b94147acd4acf8e95f">getDimension</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a69891186af0b0838064bf693568e0604">allocControl</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a76048894ec70f6a0b62de7c8b6dae12f">freeControl</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> </div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a2410ccc7c104e08605dda3311312ad68">copyControl</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *destination, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *source) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> </div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a15a3cb9ee25073a66f424f8d19dd9622">equalControls</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *control1, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *control2) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a423508ba66866d4331ececabc1801beb">nullControl</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a2d9f4b6552f90536cc2d5417c6e72613">allocDefaultControlSampler</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> </div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">double</span> *<a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a1292eab0403fdb4d0262267324428b3e">getValueAddressAtIndex</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#ab81413ec2332e2a27c604be1fba38316">printControl</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *<a class="code hl_namespace" href="namespaceompl_1_1control.html">control</a>, std::ostream &out = std::cout) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> </div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a3f41a1873dc9a1bccac523d739bc1452">printSettings</a>(std::ostream &out) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a76689a2db8bb4152e63a4d2afa14f4b2">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span></div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a2634bf6401da8297a9fb8b4c86ed32de">getSerializationLength</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a5f4d31dec228c8e7d1714b21d6d68f0b">serialize</a>(<span class="keywordtype">void</span> *serialization, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span></div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#aaa50d0a87aeafc1eb9b85a6ac858008d">deserialize</a>(<a class="code hl_class" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl, <span class="keyword">const</span> <span class="keywordtype">void</span> *serialization) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> </div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a644e9cb40c45b065c02059789d71d12f">isCompound</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span></div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a0289ef7951c86aa50de720253c4b72a9">lock</a>();</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> </div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keyword">protected</span>:</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50"> 279</a></span> std::vector<ControlSpacePtr> <a class="code hl_variable" href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50">components_</a>;</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span></div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6"> 282</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">componentCount_</a>;</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span></div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df"> 285</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">locked_</a>;</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> };</div>
</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> } <span class="comment">// namespace control</span></div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span>} <span class="comment">// namespace ompl</span></div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> </div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aConsole_8h_html"><div class="ttname"><a href="Console_8h.html">Console.h</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html">ompl::control::CompoundControlSpace</a></div><div class="ttdoc">A control space to allow the composition of control spaces.</div><div class="ttdef"><b>Definition</b> <a href="#l00201">ControlSpace.h:202</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a002a87ce1e4b2ea01ea9d5b47750c213"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a002a87ce1e4b2ea01ea9d5b47750c213">ompl::control::CompoundControlSpace::getSubspaceCount</a></div><div class="ttdeci">unsigned int getSubspaceCount() const</div><div class="ttdoc">Get the number of control spaces that make up the compound control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00152">ControlSpace.cpp:152</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a0289ef7951c86aa50de720253c4b72a9"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a0289ef7951c86aa50de720253c4b72a9">ompl::control::CompoundControlSpace::lock</a></div><div class="ttdeci">void lock()</div><div class="ttdoc">Lock this control space. This means no further control spaces can be added as components....</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00231">ControlSpace.cpp:231</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a10fa7793c1fa25f548a3e72872dfb1df"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">ompl::control::CompoundControlSpace::locked_</a></div><div class="ttdeci">bool locked_</div><div class="ttdoc">Flag indicating whether adding further components is allowed or not.</div><div class="ttdef"><b>Definition</b> <a href="#l00285">ControlSpace.h:285</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a1292eab0403fdb4d0262267324428b3e"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a1292eab0403fdb4d0262267324428b3e">ompl::control::CompoundControlSpace::getValueAddressAtIndex</a></div><div class="ttdeci">double * getValueAddressAtIndex(Control *control, unsigned int index) const override</div><div class="ttdoc">Many controls contain a number of double values. This function provides a means to get the memory add...</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00236">ControlSpace.cpp:236</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a15a3cb9ee25073a66f424f8d19dd9622"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a15a3cb9ee25073a66f424f8d19dd9622">ompl::control::CompoundControlSpace::equalControls</a></div><div class="ttdeci">bool equalControls(const Control *control1, const Control *control2) const override</div><div class="ttdoc">Check if two controls are the same.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00206">ControlSpace.cpp:206</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a2410ccc7c104e08605dda3311312ad68"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a2410ccc7c104e08605dda3311312ad68">ompl::control::CompoundControlSpace::copyControl</a></div><div class="ttdeci">void copyControl(Control *destination, const Control *source) const override</div><div class="ttdoc">Copy a control to another.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00198">ControlSpace.cpp:198</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a2634bf6401da8297a9fb8b4c86ed32de"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a2634bf6401da8297a9fb8b4c86ed32de">ompl::control::CompoundControlSpace::getSerializationLength</a></div><div class="ttdeci">unsigned int getSerializationLength() const override</div><div class="ttdoc">Returns the serialization size for a single control in this space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00281">ControlSpace.cpp:281</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a27e33f86e7f378220485bf137f5f8f50"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50">ompl::control::CompoundControlSpace::components_</a></div><div class="ttdeci">std::vector< ControlSpacePtr > components_</div><div class="ttdoc">The component control spaces that make up the compound control space.</div><div class="ttdef"><b>Definition</b> <a href="#l00279">ControlSpace.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a2d9f4b6552f90536cc2d5417c6e72613"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a2d9f4b6552f90536cc2d5417c6e72613">ompl::control::CompoundControlSpace::allocDefaultControlSampler</a></div><div class="ttdeci">ControlSamplerPtr allocDefaultControlSampler() const override</div><div class="ttdoc">Allocate the default control sampler.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00223">ControlSpace.cpp:223</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a3f41a1873dc9a1bccac523d739bc1452"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a3f41a1873dc9a1bccac523d739bc1452">ompl::control::CompoundControlSpace::printSettings</a></div><div class="ttdeci">void printSettings(std::ostream &out) const override</div><div class="ttdoc">Print the settings for this control space to a stream.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00266">ControlSpace.cpp:266</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a423508ba66866d4331ececabc1801beb"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a423508ba66866d4331ececabc1801beb">ompl::control::CompoundControlSpace::nullControl</a></div><div class="ttdeci">void nullControl(Control *control) const override</div><div class="ttdoc">Make the control have no effect if it were to be applied to a state for any amount of time.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00216">ControlSpace.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a5e721ccefd5049b94147acd4acf8e95f"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a5e721ccefd5049b94147acd4acf8e95f">ompl::control::CompoundControlSpace::getDimension</a></div><div class="ttdeci">unsigned int getDimension() const override</div><div class="ttdoc">Get the dimension of this control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00172">ControlSpace.cpp:172</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a5f4d31dec228c8e7d1714b21d6d68f0b"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a5f4d31dec228c8e7d1714b21d6d68f0b">ompl::control::CompoundControlSpace::serialize</a></div><div class="ttdeci">void serialize(void *serialization, const Control *ctrl) const override</div><div class="ttdoc">Serializes the given control into the serialization buffer.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00289">ControlSpace.cpp:289</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a644e9cb40c45b065c02059789d71d12f"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a644e9cb40c45b065c02059789d71d12f">ompl::control::CompoundControlSpace::isCompound</a></div><div class="ttdeci">bool isCompound() const override</div><div class="ttdoc">Check if the control space is compound.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00311">ControlSpace.cpp:311</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a69891186af0b0838064bf693568e0604"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a69891186af0b0838064bf693568e0604">ompl::control::CompoundControlSpace::allocControl</a></div><div class="ttdeci">Control * allocControl() const override</div><div class="ttdoc">Allocate memory for a control.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00180">ControlSpace.cpp:180</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a6a08eb3022ef0e0fb31a27fc08e90a27"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a6a08eb3022ef0e0fb31a27fc08e90a27">ompl::control::CompoundControlSpace::as</a></div><div class="ttdeci">T * as(const unsigned int index) const</div><div class="ttdoc">Cast a component of this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="#l00217">ControlSpace.h:217</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a76048894ec70f6a0b62de7c8b6dae12f"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a76048894ec70f6a0b62de7c8b6dae12f">ompl::control::CompoundControlSpace::freeControl</a></div><div class="ttdeci">void freeControl(Control *control) const override</div><div class="ttdoc">Free the memory of a control.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00189">ControlSpace.cpp:189</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a76689a2db8bb4152e63a4d2afa14f4b2"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a76689a2db8bb4152e63a4d2afa14f4b2">ompl::control::CompoundControlSpace::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform final setup steps. This function is automatically called by the SpaceInformation.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00274">ControlSpace.cpp:274</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a97f6c0cb2ae71155e710fedf64f07c70"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">ompl::control::CompoundControlSpace::addSubspace</a></div><div class="ttdeci">virtual void addSubspace(const ControlSpacePtr &component)</div><div class="ttdoc">Adds a control space as a component of the compound control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00143">ControlSpace.cpp:143</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_aaa50d0a87aeafc1eb9b85a6ac858008d"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#aaa50d0a87aeafc1eb9b85a6ac858008d">ompl::control::CompoundControlSpace::deserialize</a></div><div class="ttdeci">void deserialize(Control *ctrl, const void *serialization) const override</div><div class="ttdoc">Deserializes a control from the serialization buffer.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00300">ControlSpace.cpp:300</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ab26054f5b3b19bdbff38de768f7637e6"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">ompl::control::CompoundControlSpace::componentCount_</a></div><div class="ttdeci">unsigned int componentCount_</div><div class="ttdoc">The number of contained components.</div><div class="ttdef"><b>Definition</b> <a href="#l00282">ControlSpace.h:282</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ab81413ec2332e2a27c604be1fba38316"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ab81413ec2332e2a27c604be1fba38316">ompl::control::CompoundControlSpace::printControl</a></div><div class="ttdeci">void printControl(const Control *control, std::ostream &out=std::cout) const override</div><div class="ttdoc">Print a control to a stream.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00257">ControlSpace.cpp:257</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ad28947f3701c3da06c31f388c243faa1"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">ompl::control::CompoundControlSpace::getSubspace</a></div><div class="ttdeci">const ControlSpacePtr & getSubspace(unsigned int index) const</div><div class="ttdoc">Get a specific subspace from the compound control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00157">ControlSpace.cpp:157</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ae823376c93dd222d632961ca2bd14daf"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ae823376c93dd222d632961ca2bd14daf">ompl::control::CompoundControlSpace::ControlType</a></div><div class="ttdeci">ompl::control::CompoundControl ControlType</div><div class="ttdoc">Define the type of control allocated by this control space.</div><div class="ttdef"><b>Definition</b> <a href="#l00205">ControlSpace.h:205</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_aecf151ee04bb4cefac7d3891a7ae1214"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">ompl::control::CompoundControlSpace::CompoundControlSpace</a></div><div class="ttdeci">CompoundControlSpace(const base::StateSpacePtr &stateSpace)</div><div class="ttdoc">Constructor. The corresponding state space needs to be specified.</div><div class="ttdef"><b>Definition</b> <a href="#l00208">ControlSpace.h:208</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControl_html"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControl.html">ompl::control::CompoundControl</a></div><div class="ttdoc">Definition of a compound control.</div><div class="ttdef"><b>Definition</b> <a href="Control_8h_source.html#l00084">Control.h:85</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSamplerPtr_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::ControlSampler.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpacePtr_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::ControlSpace.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html">ompl::control::ControlSpace</a></div><div class="ttdoc">A control space representing the space of applicable controls.</div><div class="ttdef"><b>Definition</b> <a href="#l00063">ControlSpace.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a1d21669ebe1a4d0d68936ab459af9a1f"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a1d21669ebe1a4d0d68936ab459af9a1f">ompl::control::ControlSpace::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdoc">Perform final setup steps. This function is automatically called by the SpaceInformation.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00082">ControlSpace.cpp:82</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a245051e8f5e44433c03e9478c626dee9"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a245051e8f5e44433c03e9478c626dee9">ompl::control::ControlSpace::getStateSpace</a></div><div class="ttdeci">const base::StateSpacePtr & getStateSpace() const</div><div class="ttdoc">Return the state space this control space depends on.</div><div class="ttdef"><b>Definition</b> <a href="#l00113">ControlSpace.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a2e5ca6e44abae7c433d78e0ba418f5fe"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a2e5ca6e44abae7c433d78e0ba418f5fe">ompl::control::ControlSpace::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="#l00090">ControlSpace.h:90</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a317bb364496fad19fd792253f9780938"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a317bb364496fad19fd792253f9780938">ompl::control::ControlSpace::allocControlSampler</a></div><div class="ttdeci">virtual ControlSamplerPtr allocControlSampler() const</div><div class="ttdoc">Allocate an instance of the control sampler for this space. This sampler will be allocated with the s...</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00086">ControlSpace.cpp:86</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a47dd7e7b2523816ca9be02de84a66c5b"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a47dd7e7b2523816ca9be02de84a66c5b">ompl::control::ControlSpace::isCompound</a></div><div class="ttdeci">virtual bool isCompound() const</div><div class="ttdoc">Check if the control space is compound.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00138">ControlSpace.cpp:138</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a5446589551d62815158e62a7cb78346b"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a5446589551d62815158e62a7cb78346b">ompl::control::ControlSpace::printSettings</a></div><div class="ttdeci">virtual void printSettings(std::ostream &out) const</div><div class="ttdoc">Print the settings for this control space to a stream.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00113">ControlSpace.cpp:113</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a5bbdb02a33cc6ed480262778da1a99b2"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a5bbdb02a33cc6ed480262778da1a99b2">ompl::control::ControlSpace::serialize</a></div><div class="ttdeci">virtual void serialize(void *serialization, const Control *ctrl) const</div><div class="ttdoc">Serializes the given control into the serialization buffer.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00123">ControlSpace.cpp:123</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a640948a1a126edf2e6ecd341f1607b6c"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a640948a1a126edf2e6ecd341f1607b6c">ompl::control::ControlSpace::getType</a></div><div class="ttdeci">int getType() const</div><div class="ttdoc">Get the type of the control space. The type can be used to verify whether two space instances are of ...</div><div class="ttdef"><b>Definition</b> <a href="#l00107">ControlSpace.h:107</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a715b01e3b40da2aee6a9ded70f3efccf"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a715b01e3b40da2aee6a9ded70f3efccf">ompl::control::ControlSpace::computeSignature</a></div><div class="ttdeci">void computeSignature(std::vector< int > &signature) const</div><div class="ttdoc">Compute an array of ints that uniquely identifies the structure of the control space....</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00131">ControlSpace.cpp:131</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a7e65078fbbddd0269359d040edc9fee8"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a7e65078fbbddd0269359d040edc9fee8">ompl::control::ControlSpace::allocControl</a></div><div class="ttdeci">virtual Control * allocControl() const =0</div><div class="ttdoc">Allocate memory for a control.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a81070174fae65611ce0779673c5a60df"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df">ompl::control::ControlSpace::type_</a></div><div class="ttdeci">int type_</div><div class="ttdoc">A type assigned for this control space.</div><div class="ttdef"><b>Definition</b> <a href="#l00187">ControlSpace.h:187</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a86a442ebb728b2e7920de2875d479711"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711">ompl::control::ControlSpace::freeControl</a></div><div class="ttdeci">virtual void freeControl(Control *control) const =0</div><div class="ttdoc">Free the memory of a control.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a8998ac5d1f469f7e3113b4e69d8de1cd"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">ompl::control::ControlSpace::stateSpace_</a></div><div class="ttdeci">base::StateSpacePtr stateSpace_</div><div class="ttdoc">The state space controls can be applied to.</div><div class="ttdef"><b>Definition</b> <a href="#l00190">ControlSpace.h:190</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a8d4d96f52eb5ef8af387234def055005"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a8d4d96f52eb5ef8af387234def055005">ompl::control::ControlSpace::getName</a></div><div class="ttdeci">const std::string & getName() const</div><div class="ttdoc">Get the name of the control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00072">ControlSpace.cpp:72</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a92ec45728c99bcbc2d8dce127687fa89"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a92ec45728c99bcbc2d8dce127687fa89">ompl::control::ControlSpace::allocDefaultControlSampler</a></div><div class="ttdeci">virtual ControlSamplerPtr allocDefaultControlSampler() const =0</div><div class="ttdoc">Allocate the default control sampler.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aa061c299e9a15685e494fddd4f3a35b3"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aa061c299e9a15685e494fddd4f3a35b3">ompl::control::ControlSpace::as</a></div><div class="ttdeci">T * as()</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="#l00080">ControlSpace.h:80</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aafc829af78b3a32e549bd6ed8f0bc8b0"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aafc829af78b3a32e549bd6ed8f0bc8b0">ompl::control::ControlSpace::csa_</a></div><div class="ttdeci">ControlSamplerAllocator csa_</div><div class="ttdoc">An optional control sampler allocator.</div><div class="ttdef"><b>Definition</b> <a href="#l00193">ControlSpace.h:193</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ab0d214352867b65976297b2f0bc6e57f"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f">ompl::control::ControlSpace::nullControl</a></div><div class="ttdeci">virtual void nullControl(Control *control) const =0</div><div class="ttdoc">Make the control have no effect if it were to be applied to a state for any amount of time.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ac0733020cf25ff2cd6aedc979d50e187"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ac0733020cf25ff2cd6aedc979d50e187">ompl::control::ControlSpace::printControl</a></div><div class="ttdeci">virtual void printControl(const Control *control, std::ostream &out) const</div><div class="ttdoc">Print a control to a stream.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00108">ControlSpace.cpp:108</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ac0db4716c6e243ee303e5273da9e6794"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ac0db4716c6e243ee303e5273da9e6794">ompl::control::ControlSpace::getDimension</a></div><div class="ttdeci">virtual unsigned int getDimension() const =0</div><div class="ttdoc">Get the dimension of this control space.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ac1f2d5ea7ca8066e42287338d55e3bbe"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ac1f2d5ea7ca8066e42287338d55e3bbe">ompl::control::ControlSpace::ControlType</a></div><div class="ttdeci">ompl::control::Control ControlType</div><div class="ttdoc">Define the type of control allocated by this control space.</div><div class="ttdef"><b>Definition</b> <a href="#l00067">ControlSpace.h:67</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ad17fe532b56a3ffb3282cdc02b32cee8"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8">ompl::control::ControlSpace::equalControls</a></div><div class="ttdeci">virtual bool equalControls(const Control *control1, const Control *control2) const =0</div><div class="ttdoc">Check if two controls are the same.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ad47a72cbf62af06147a324c906cf394e"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ad47a72cbf62af06147a324c906cf394e">ompl::control::ControlSpace::clearControlSamplerAllocator</a></div><div class="ttdeci">void clearControlSamplerAllocator()</div><div class="ttdoc">Clear the control sampler allocator (reset to default).</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00098">ControlSpace.cpp:98</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_adbb27f9ea57bcd3b8ad91fe8ef5d2a42"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#adbb27f9ea57bcd3b8ad91fe8ef5d2a42">ompl::control::ControlSpace::getValueAddressAtIndex</a></div><div class="ttdeci">virtual double * getValueAddressAtIndex(Control *control, unsigned int index) const</div><div class="ttdoc">Many controls contain a number of double values. This function provides a means to get the memory add...</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00103">ControlSpace.cpp:103</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_adcd3724c133be477c59c5e435a437049"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#adcd3724c133be477c59c5e435a437049">ompl::control::ControlSpace::deserialize</a></div><div class="ttdeci">virtual void deserialize(Control *ctrl, const void *serialization) const</div><div class="ttdoc">Deserializes a control from the serialization buffer.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00127">ControlSpace.cpp:127</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ae7138a1a3dd3b2dba3e222538707e15d"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d">ompl::control::ControlSpace::setName</a></div><div class="ttdeci">void setName(const std::string &name)</div><div class="ttdoc">Set the name of the control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00077">ControlSpace.cpp:77</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aed44e8a509283145434ae40fd2a3daee"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee">ompl::control::ControlSpace::copyControl</a></div><div class="ttdeci">virtual void copyControl(Control *destination, const Control *source) const =0</div><div class="ttdoc">Copy a control to another.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_af62de8cc9293911df87cf2cb2ae4bbc8"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#af62de8cc9293911df87cf2cb2ae4bbc8">ompl::control::ControlSpace::getSerializationLength</a></div><div class="ttdeci">virtual unsigned int getSerializationLength() const</div><div class="ttdoc">Returns the serialization size for a single control in this space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00118">ControlSpace.cpp:118</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aff9f2582768673ba3c2091c960294115"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">ompl::control::ControlSpace::setControlSamplerAllocator</a></div><div class="ttdeci">void setControlSamplerAllocator(const ControlSamplerAllocator &csa)</div><div class="ttdoc">Set the sampler allocator to use.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00093">ControlSpace.cpp:93</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Control_html"><div class="ttname"><a href="classompl_1_1control_1_1Control.html">ompl::control::Control</a></div><div class="ttdoc">Definition of an abstract control.</div><div class="ttdef"><b>Definition</b> <a href="Control_8h_source.html#l00047">Control.h:48</a></div></div>
<div class="ttc" id="anamespaceompl_1_1control_html"><div class="ttname"><a href="namespaceompl_1_1control.html">ompl::control</a></div><div class="ttdoc">This namespace contains sampling based planning routines used by planning under differential constrai...</div><div class="ttdef"><b>Definition</b> <a href="Control_8h_source.html#l00044">Control.h:45</a></div></div>
<div class="ttc" id="anamespaceompl_1_1control_html_a4649e6057d5e020af5a2e93a65eca025"><div class="ttname"><a href="namespaceompl_1_1control.html#a4649e6057d5e020af5a2e93a65eca025">ompl::control::ControlSamplerAllocator</a></div><div class="ttdeci">std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator</div><div class="ttdoc">Definition of a function that can allocate a control sampler.</div><div class="ttdef"><b>Definition</b> <a href="ControlSampler_8h_source.html#l00159">ControlSampler.h:159</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition</b> <a href="MultiLevelPlanarManipulatorDemo_8cpp_source.html#l00065">MultiLevelPlanarManipulatorDemo.cpp:66</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.16.1
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>