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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="title">ControlSpace.cpp</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#include &quot;ompl/control/ControlSpace.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00039"></a>00039 
<a name="l00040"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#ac967d6891fd4e0d5328ff304842288f4">00040</a> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ac967d6891fd4e0d5328ff304842288f4" title="Construct a control space, given the state space.">ompl::control::ControlSpace::ControlSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &amp;stateSpace) : stateSpace_(stateSpace)
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042     name_ = <span class="stringliteral">&quot;Control[&quot;</span> + <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd" title="The state space controls can be applied to.">stateSpace_</a>-&gt;getName() + <span class="stringliteral">&quot;]&quot;</span>;
<a name="l00043"></a>00043 }
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 ompl::control::ControlSpace::~ControlSpace(<span class="keywordtype">void</span>)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048 
<a name="l00049"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#addb736f7c33b83c4d114d631910b38ad">00049</a> <span class="keyword">const</span> std::string&amp; <a class="code" href="classompl_1_1control_1_1ControlSpace.html#addb736f7c33b83c4d114d631910b38ad" title="Get the name of the control space.">ompl::control::ControlSpace::getName</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00050"></a>00050 <span class="keyword"></span>{
<a name="l00051"></a>00051     <span class="keywordflow">return</span> name_;
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053 
<a name="l00054"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d">00054</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d" title="Set the name of the control space.">ompl::control::ControlSpace::setName</a>(<span class="keyword">const</span> std::string &amp;name)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056     name_ = name;
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058 
<a name="l00059"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#aed37f6c32f3a5378faebc2ff4d764055">00059</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aed37f6c32f3a5378faebc2ff4d764055" title="Perform final setup steps. This function is automatically called by the SpaceInformation.">ompl::control::ControlSpace::setup</a>(<span class="keywordtype">void</span>)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062 
<a name="l00063"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#af07a7dcaa5f24537f440e8297c077282">00063</a> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ControlSpace.html#af07a7dcaa5f24537f440e8297c077282" title="Many controls contain a number of double values. This function provides a means to get the memory add...">ompl::control::ControlSpace::getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00064"></a>00064 <span class="keyword"></span>{
<a name="l00065"></a>00065     <span class="keywordflow">return</span> NULL;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067 
<a name="l00068"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#a3186af8403c734774619fa7383c3b10c">00068</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a3186af8403c734774619fa7383c3b10c" title="Print a control to a stream.">ompl::control::ControlSpace::printControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00069"></a>00069 <span class="keyword"></span>{
<a name="l00070"></a>00070     out &lt;&lt; <span class="stringliteral">&quot;Control instance: &quot;</span> &lt;&lt; control &lt;&lt; std::endl;
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072 
<a name="l00073"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad8842e0ecff583a3ae5b0548ff3f0d4d">00073</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad8842e0ecff583a3ae5b0548ff3f0d4d" title="Print the settings for this control space to a stream.">ompl::control::ControlSpace::printSettings</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00074"></a>00074 <span class="keyword"></span>{
<a name="l00075"></a>00075     out &lt;&lt; <span class="stringliteral">&quot;ControlSpace &#39;&quot;</span> &lt;&lt; getName() &lt;&lt; <span class="stringliteral">&quot;&#39; instance: &quot;</span> &lt;&lt; <span class="keyword">this</span> &lt;&lt; std::endl;
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077 
<a name="l00078"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a62cfe85825a8f1278094e645dcbf2bf1">00078</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a62cfe85825a8f1278094e645dcbf2bf1" title="Adds a control space as a component of the compound control space.">ompl::control::CompoundControlSpace::addSubSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a> &amp;component)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080     <span class="keywordflow">if</span> (locked_)
<a name="l00081"></a>00081         <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;This control space is locked. No further components can be added&quot;</span>);
<a name="l00082"></a>00082 
<a name="l00083"></a>00083     components_.push_back(component);
<a name="l00084"></a>00084     componentCount_ = components_.size();
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 
<a name="l00087"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad81613125e0b57d524383bcf512968ee">00087</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad81613125e0b57d524383bcf512968ee" title="Get the number of control spaces that make up the compound control space.">ompl::control::CompoundControlSpace::getSubSpaceCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00088"></a>00088 <span class="keyword"></span>{
<a name="l00089"></a>00089     <span class="keywordflow">return</span> componentCount_;
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 
<a name="l00092"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c">00092</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ompl::control::ControlSpacePtr</a>&amp; <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c" title="Get a specific subspace from the compound control space.">ompl::control::CompoundControlSpace::getSubSpace</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00093"></a>00093 <span class="keyword"></span>{
<a name="l00094"></a>00094     <span class="keywordflow">if</span> (componentCount_ &gt; index)
<a name="l00095"></a>00095         <span class="keywordflow">return</span> components_[index];
<a name="l00096"></a>00096     <span class="keywordflow">else</span>
<a name="l00097"></a>00097         <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;Subspace index does not exist&quot;</span>);
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 
<a name="l00100"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a92abb577177342adbd039102f789faa2">00100</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ompl::control::ControlSpacePtr</a>&amp; <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c" title="Get a specific subspace from the compound control space.">ompl::control::CompoundControlSpace::getSubSpace</a>(<span class="keyword">const</span> std::string &amp;name)<span class="keyword"> const</span>
<a name="l00101"></a>00101 <span class="keyword"></span>{
<a name="l00102"></a>00102     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00103"></a>00103         <span class="keywordflow">if</span> (components_[i]-&gt;getName() == name)
<a name="l00104"></a>00104             <span class="keywordflow">return</span> components_[i];
<a name="l00105"></a>00105     <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;Subspace &quot;</span> + name + <span class="stringliteral">&quot; does not exist&quot;</span>);
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107 
<a name="l00108"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a22d8156ec5990d3753a1bdf6d9c88888">00108</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a22d8156ec5990d3753a1bdf6d9c88888" title="Get the dimension of this control space.">ompl::control::CompoundControlSpace::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00109"></a>00109 <span class="keyword"></span>{
<a name="l00110"></a>00110     <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim = 0;
<a name="l00111"></a>00111     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00112"></a>00112         dim += components_[i]-&gt;getDimension();
<a name="l00113"></a>00113     <span class="keywordflow">return</span> dim;
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 
<a name="l00116"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ac138ccdff607cd465e3549a3efb1e511">00116</a> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">ompl::control::Control</a>* <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ac138ccdff607cd465e3549a3efb1e511" title="Allocate memory for a control.">ompl::control::CompoundControlSpace::allocControl</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00117"></a>00117 <span class="keyword"></span>{
<a name="l00118"></a>00118     <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *control = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>();
<a name="l00119"></a>00119     control-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a> = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>*[componentCount_];
<a name="l00120"></a>00120     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00121"></a>00121         control-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i] = components_[i]-&gt;allocControl();
<a name="l00122"></a>00122     <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>*<span class="keyword">&gt;</span>(control);
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 
<a name="l00125"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a28f345b66f692f0320131ebdc67cf3fd">00125</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a28f345b66f692f0320131ebdc67cf3fd" title="Free the memory of a control.">ompl::control::CompoundControlSpace::freeControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control)<span class="keyword"> const</span>
<a name="l00126"></a>00126 <span class="keyword"></span>{
<a name="l00127"></a>00127     <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *ccontrol = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(control);
<a name="l00128"></a>00128     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00129"></a>00129         components_[i]-&gt;freeControl(ccontrol-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i]);
<a name="l00130"></a>00130     <span class="keyword">delete</span>[] ccontrol-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>;
<a name="l00131"></a>00131     <span class="keyword">delete</span> ccontrol;
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133 
<a name="l00134"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a788677c2b9ce983580d91e45300147a3">00134</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a788677c2b9ce983580d91e45300147a3" title="Copy a control to another.">ompl::control::CompoundControlSpace::copyControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *source)<span class="keyword"> const</span>
<a name="l00135"></a>00135 <span class="keyword"></span>{
<a name="l00136"></a>00136     <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>      *cdest = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(destination);
<a name="l00137"></a>00137     <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *csrc = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(source);
<a name="l00138"></a>00138     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00139"></a>00139         components_[i]-&gt;copyControl(cdest-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i], csrc-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i]);
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141 
<a name="l00142"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a973585257979befcf82c31a8fe33c48e">00142</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a973585257979befcf82c31a8fe33c48e" title="Check if two controls are the same.">ompl::control::CompoundControlSpace::equalControls</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control1, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control2)<span class="keyword"> const</span>
<a name="l00143"></a>00143 <span class="keyword"></span>{
<a name="l00144"></a>00144     <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *ccontrol1 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(control1);
<a name="l00145"></a>00145     <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *ccontrol2 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(control2);
<a name="l00146"></a>00146     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00147"></a>00147         <span class="keywordflow">if</span> (!components_[i]-&gt;equalControls(ccontrol1-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i], ccontrol2-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i]))
<a name="l00148"></a>00148             <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00149"></a>00149     <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151 
<a name="l00152"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a808ce868a2d0e29d75167377da1c9e87">00152</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a808ce868a2d0e29d75167377da1c9e87" title="Make the control have no effect if it were to be applied to a state for any amount of time...">ompl::control::CompoundControlSpace::nullControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control)<span class="keyword"> const</span>
<a name="l00153"></a>00153 <span class="keyword"></span>{
<a name="l00154"></a>00154     <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *ccontrol = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(control);
<a name="l00155"></a>00155     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00156"></a>00156         components_[i]-&gt;nullControl(ccontrol-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i]);
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158 
<a name="l00159"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a1c27faba75bd20d9d41b495d81ef9a13">00159</a> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ompl::control::ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a1c27faba75bd20d9d41b495d81ef9a13" title="Allocate a control sampler.">ompl::control::CompoundControlSpace::allocControlSampler</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00160"></a>00160 <span class="keyword"></span>{
<a name="l00161"></a>00161     <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html" title="Definition of a compound control sampler. This is useful to construct samplers for compound controls...">CompoundControlSampler</a> *ss = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html" title="Definition of a compound control sampler. This is useful to construct samplers for compound controls...">CompoundControlSampler</a>(<span class="keyword">this</span>);
<a name="l00162"></a>00162     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00163"></a>00163         ss-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b" title="Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...">addSampler</a>(components_[i]-&gt;allocControlSampler());
<a name="l00164"></a>00164     <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a>(ss);
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 
<a name="l00167"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad86eeac301ccee8f278a54c5d36f7c0c">00167</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad86eeac301ccee8f278a54c5d36f7c0c" title="Lock this control space. This means no further control spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundControlSpace to prevent the user to add further components.">ompl::control::CompoundControlSpace::lock</a>(<span class="keywordtype">void</span>)
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169     locked_ = <span class="keyword">true</span>;
<a name="l00170"></a>00170 }
<a name="l00171"></a>00171 
<a name="l00172"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a21916aee5cb82733348c8d3d86957ec7">00172</a> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a21916aee5cb82733348c8d3d86957ec7" title="Many controls contain a number of double values. This function provides a means to get the memory add...">ompl::control::CompoundControlSpace::getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00173"></a>00173 <span class="keyword"></span>{
<a name="l00174"></a>00174     <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *ccontrol = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(control);
<a name="l00175"></a>00175     <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx = 0;
<a name="l00176"></a>00176 
<a name="l00177"></a>00177     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00178"></a>00178         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j &lt;= index ; ++j)
<a name="l00179"></a>00179         {
<a name="l00180"></a>00180             <span class="keywordtype">double</span> *va = components_[i]-&gt;getValueAddressAtIndex(ccontrol-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i], j);
<a name="l00181"></a>00181             <span class="keywordflow">if</span> (va)
<a name="l00182"></a>00182             {
<a name="l00183"></a>00183                 <span class="keywordflow">if</span> (idx == index)
<a name="l00184"></a>00184                     <span class="keywordflow">return</span> va;
<a name="l00185"></a>00185                 <span class="keywordflow">else</span>
<a name="l00186"></a>00186                     idx++;
<a name="l00187"></a>00187             }
<a name="l00188"></a>00188             <span class="keywordflow">else</span>
<a name="l00189"></a>00189                 <span class="keywordflow">break</span>;
<a name="l00190"></a>00190         }
<a name="l00191"></a>00191     <span class="keywordflow">return</span> NULL;
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193 
<a name="l00194"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a4d98173138ebc8bd5e2d09afd50af24d">00194</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a4d98173138ebc8bd5e2d09afd50af24d" title="Print a control to a stream.">ompl::control::CompoundControlSpace::printControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00195"></a>00195 <span class="keyword"></span>{
<a name="l00196"></a>00196     out &lt;&lt; <span class="stringliteral">&quot;Compound control [&quot;</span> &lt;&lt; std::endl;
<a name="l00197"></a>00197     <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> *ccontrol = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">&gt;</span>(control);
<a name="l00198"></a>00198     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00199"></a>00199         components_[i]-&gt;printControl(ccontrol-&gt;<a class="code" href="classompl_1_1control_1_1CompoundControl.html#a1cbfebc0fa1f536935c86376a6c0f703" title="The components that make up a compound control.">components</a>[i], out);
<a name="l00200"></a>00200     out &lt;&lt; <span class="stringliteral">&quot;]&quot;</span> &lt;&lt; std::endl;
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202 
<a name="l00203"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a7c2d4ecff19582b6c1b6e253571a1305">00203</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a7c2d4ecff19582b6c1b6e253571a1305" title="Print the settings for this control space to a stream.">ompl::control::CompoundControlSpace::printSettings</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00204"></a>00204 <span class="keyword"></span>{
<a name="l00205"></a>00205     out &lt;&lt; <span class="stringliteral">&quot;Compound control space &#39;&quot;</span> &lt;&lt; getName() &lt;&lt; <span class="stringliteral">&quot;&#39; [&quot;</span> &lt;&lt; std::endl;
<a name="l00206"></a>00206     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00207"></a>00207         components_[i]-&gt;printSettings(out);
<a name="l00208"></a>00208     out &lt;&lt; <span class="stringliteral">&quot;]&quot;</span> &lt;&lt; std::endl;
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 
<a name="l00211"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aa3ce54e56d20e94f74a5bdc3f6187c2f">00211</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aa3ce54e56d20e94f74a5bdc3f6187c2f" title="Perform final setup steps. This function is automatically called by the SpaceInformation.">ompl::control::CompoundControlSpace::setup</a>(<span class="keywordtype">void</span>)
<a name="l00212"></a>00212 {
<a name="l00213"></a>00213     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; componentCount_ ; ++i)
<a name="l00214"></a>00214         components_[i]-&gt;setup();
<a name="l00215"></a>00215     <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aed37f6c32f3a5378faebc2ff4d764055" title="Perform final setup steps. This function is automatically called by the SpaceInformation.">ControlSpace::setup</a>();
<a name="l00216"></a>00216 }
</pre></div></div>
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