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<div class="title">ControlSpace.h</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">#ifndef OMPL_CONTROL_CONTROL_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_CONTROL_SPACE_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/StateSpace.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/control/Control.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/control/ControlSampler.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/util/Console.h&quot;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &lt;boost/concept_check.hpp&gt;</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include &lt;boost/noncopyable.hpp&gt;</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00048"></a>00048 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00049"></a>00049 
<a name="l00050"></a>00050 <span class="keyword">namespace </span>ompl
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 
<a name="l00053"></a>00053     <span class="keyword">namespace </span>control
<a name="l00054"></a>00054     {
<a name="l00055"></a>00055 
<a name="l00057"></a>00057         <a class="code" href="namespaceompl_1_1control.html#ae088c975568ca449b3d53f626c491513" title="Forward declaration of ompl::control::ControlSpace.">ClassForward</a>(ControlSpace);
<a name="l00058"></a>00058 
<a name="l00063"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html">00063</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a> : <span class="keyword">private</span> boost::noncopyable
<a name="l00064"></a>00064         {
<a name="l00065"></a>00065         <span class="keyword">public</span>:
<a name="l00066"></a>00066 
<a name="l00068"></a>00068             <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ac967d6891fd4e0d5328ff304842288f4" title="Construct a control space, given the state space.">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);
<a name="l00069"></a>00069 
<a name="l00070"></a>00070             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>(<span class="keywordtype">void</span>);
<a name="l00071"></a>00071 
<a name="l00073"></a>00073             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00074"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#aeeb235f8827b037a5d10001a74ac8066">00074</a>             T* <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aeeb235f8827b037a5d10001a74ac8066" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)
<a name="l00075"></a>00075             {
<a name="l00077"></a>00077                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, ControlSpace*&gt;));
<a name="l00078"></a>00078 
<a name="l00079"></a>00079                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span>T*<span class="keyword">&gt;</span>(<span class="keyword">this</span>);
<a name="l00080"></a>00080             }
<a name="l00081"></a>00081 
<a name="l00083"></a>00083             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00084"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#a2d0de92502d963b38a6927d7fc1b14a6">00084</a>             <span class="keyword">const</span> T* <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aeeb235f8827b037a5d10001a74ac8066" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00085"></a>00085 <span class="keyword">            </span>{
<a name="l00087"></a>00087                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, ControlSpace*&gt;));
<a name="l00088"></a>00088 
<a name="l00089"></a>00089                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(<span class="keyword">this</span>);
<a name="l00090"></a>00090             }
<a name="l00091"></a>00091 
<a name="l00093"></a>00093             <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.">getName</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00094"></a>00094 
<a name="l00096"></a>00096             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d" title="Set the name of the control space.">setName</a>(<span class="keyword">const</span> std::string &amp;name);
<a name="l00097"></a>00097 
<a name="l00099"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#aec3e0c154ae0f7251abcc69bfb909993">00099</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; <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aec3e0c154ae0f7251abcc69bfb909993" title="Return the state space this control space depends on.">getStateSpace</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00100"></a>00100 <span class="keyword">            </span>{
<a name="l00101"></a>00101                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd" title="The state space controls can be applied to.">stateSpace_</a>;
<a name="l00102"></a>00102             }
<a name="l00103"></a>00103 
<a name="l00105"></a>00105             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae31e947905efef2988e7c3abcb096b30" title="Get the dimension of this control space.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00106"></a>00106 
<a name="l00108"></a>00108             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a3ef493c696b9a14f2acc438744dc1bcc" title="Allocate memory for a control.">allocControl</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00109"></a>00109 
<a name="l00111"></a>00111             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711" title="Free the memory of a control.">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> = 0;
<a name="l00112"></a>00112 
<a name="l00114"></a>00114             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee" title="Copy a control to another.">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> = 0;
<a name="l00115"></a>00115 
<a name="l00117"></a>00117             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8" title="Check if two controls are the same.">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> = 0;
<a name="l00118"></a>00118 
<a name="l00120"></a>00120             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f" title="Make the control have no effect if it were to be applied to a state for any amount of time...">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> = 0;
<a name="l00121"></a>00121 
<a name="l00123"></a>00123             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a3c0a7517c09c0491b0ec0644151d90f5" title="Allocate a control sampler.">allocControlSampler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00124"></a>00124 
<a name="l00129"></a>00129             <span class="keyword">virtual</span> <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...">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="l00130"></a>00130 
<a name="l00132"></a>00132             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a3186af8403c734774619fa7383c3b10c" title="Print a control to a stream.">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="l00133"></a>00133 
<a name="l00135"></a>00135             <span class="keyword">virtual</span> <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.">printSettings</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00136"></a>00136 
<a name="l00138"></a>00138             <span class="keyword">virtual</span> <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.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00139"></a>00139 
<a name="l00140"></a>00140         <span class="keyword">protected</span>:
<a name="l00141"></a>00141 
<a name="l00143"></a><a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">00143</a>             <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a>    <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd" title="The state space controls can be applied to.">stateSpace_</a>;
<a name="l00144"></a>00144 
<a name="l00145"></a>00145         <span class="keyword">private</span>:
<a name="l00146"></a>00146 
<a name="l00148"></a>00148             std::string            name_;
<a name="l00149"></a>00149         };
<a name="l00150"></a>00150 
<a name="l00152"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html">00152</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html" title="A control space to allow the composition of control spaces.">CompoundControlSpace</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>
<a name="l00153"></a>00153         {
<a name="l00154"></a>00154         <span class="keyword">public</span>:
<a name="l00155"></a>00155 
<a name="l00157"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a0fd269c24c5e61cea5bbe264a6da4d81">00157</a>             <span class="keyword">typedef</span> <a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a0fd269c24c5e61cea5bbe264a6da4d81" title="Define the type of control allocated by this control space.">ControlType</a>;
<a name="l00158"></a>00158 
<a name="l00160"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">00160</a>             <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214" title="Constructor. The corresponding state space needs to be specified.">CompoundControlSpace</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) : <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>(stateSpace), <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6" title="The number of contained components.">componentCount_</a>(0), <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df" title="Flag indicating whether adding further components is allowed or not.">locked_</a>(false)
<a name="l00161"></a>00161             {
<a name="l00162"></a>00162             }
<a name="l00163"></a>00163 
<a name="l00164"></a>00164             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html" title="A control space to allow the composition of control spaces.">CompoundControlSpace</a>(<span class="keywordtype">void</span>)
<a name="l00165"></a>00165             {
<a name="l00166"></a>00166             }
<a name="l00167"></a>00167 
<a name="l00169"></a>00169             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00170"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a8fbb564cd496d7770c0872af019a536a">00170</a>             T* <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aeeb235f8827b037a5d10001a74ac8066" title="Cast this instance to a desired type.">as</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00171"></a>00171 <span class="keyword">            </span>{
<a name="l00173"></a>00173                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, ControlSpace*&gt;));
<a name="l00174"></a>00174 
<a name="l00175"></a>00175                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span>T*<span class="keyword">&gt;</span>(<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c" title="Get a specific subspace from the compound control space.">getSubSpace</a>(index).get());
<a name="l00176"></a>00176             }
<a name="l00177"></a>00177 
<a name="l00179"></a>00179             <span class="keyword">virtual</span> <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.">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="l00180"></a>00180 
<a name="l00182"></a>00182             <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.">getSubSpaceCount</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00183"></a>00183 
<a name="l00185"></a>00185             <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; <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c" title="Get a specific subspace from the compound control space.">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="l00186"></a>00186 
<a name="l00188"></a>00188             <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; <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c" title="Get a specific subspace from the compound control space.">getSubSpace</a>(<span class="keyword">const</span> std::string &amp;name) <span class="keyword">const</span>;
<a name="l00189"></a>00189 
<a name="l00190"></a>00190             <span class="keyword">virtual</span> <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.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ac138ccdff607cd465e3549a3efb1e511" title="Allocate memory for a control.">allocControl</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00193"></a>00193 
<a name="l00194"></a>00194             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a28f345b66f692f0320131ebdc67cf3fd" title="Free the memory of a control.">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="l00195"></a>00195 
<a name="l00196"></a>00196             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a788677c2b9ce983580d91e45300147a3" title="Copy a control to another.">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="l00197"></a>00197 
<a name="l00198"></a>00198             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a973585257979befcf82c31a8fe33c48e" title="Check if two controls are the same.">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="l00199"></a>00199 
<a name="l00200"></a>00200             <span class="keyword">virtual</span> <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...">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="l00201"></a>00201 
<a name="l00202"></a>00202             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a1c27faba75bd20d9d41b495d81ef9a13" title="Allocate a control sampler.">allocControlSampler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00203"></a>00203 
<a name="l00204"></a>00204             <span class="keyword">virtual</span> <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...">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="l00205"></a>00205 
<a name="l00206"></a>00206             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a4d98173138ebc8bd5e2d09afd50af24d" title="Print a control to a stream.">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 = std::cout) <span class="keyword">const</span>;
<a name="l00207"></a>00207 
<a name="l00208"></a>00208             <span class="keyword">virtual</span> <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.">printSettings</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00209"></a>00209 
<a name="l00210"></a>00210             <span class="keyword">virtual</span> <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.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00211"></a>00211 
<a name="l00217"></a>00217             <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.">lock</a>(<span class="keywordtype">void</span>);
<a name="l00218"></a>00218 
<a name="l00219"></a>00219         <span class="keyword">protected</span>:
<a name="l00220"></a>00220 
<a name="l00222"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50">00222</a>             std::vector&lt;ControlSpacePtr&gt;    <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50" title="The component control spaces that make up the compound control space.">components_</a>;
<a name="l00223"></a>00223 
<a name="l00225"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">00225</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                    <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6" title="The number of contained components.">componentCount_</a>;
<a name="l00226"></a>00226 
<a name="l00228"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">00228</a>             <span class="keywordtype">bool</span>                            <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df" title="Flag indicating whether adding further components is allowed or not.">locked_</a>;
<a name="l00229"></a>00229         };
<a name="l00230"></a>00230     }
<a name="l00231"></a>00231 }
<a name="l00232"></a>00232 
<a name="l00233"></a>00233 <span class="preprocessor">#endif</span>
</pre></div></div>
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