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--></script> <div id="nav-path" class="navpath"> <ul> <li class="navelem"><a class="el" href="dir_d6bab724a8a8d39645841e5b1716649d.html">demos</a> </li> </ul> </div> </div> <div class="header"> <div class="headertitle"> <div class="title">RigidBodyPlanning.cpp</div> </div> </div> <div class="contents"> <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">* "AS IS" 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 <ompl/base/SpaceInformation.h></span> <a name="l00038"></a>00038 <span class="preprocessor">#include <ompl/base/spaces/SE3StateSpace.h></span> <a name="l00039"></a>00039 <span class="preprocessor">#include <ompl/geometric/planners/rrt/RRTConnect.h></span> <a name="l00040"></a>00040 <span class="preprocessor">#include <ompl/geometric/SimpleSetup.h></span> <a name="l00041"></a>00041 <a name="l00042"></a>00042 <span class="preprocessor">#include <ompl/config.h></span> <a name="l00043"></a>00043 <span class="preprocessor">#include <iostream></span> <a name="l00044"></a>00044 <a name="l00045"></a>00045 <span class="keyword">namespace </span>ob = ompl::base; <a name="l00046"></a>00046 <span class="keyword">namespace </span>og = ompl::geometric; <a name="l00047"></a>00047 <a name="l00048"></a>00048 <span class="keywordtype">bool</span> isStateValid(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state) <a name="l00049"></a>00049 { <a name="l00050"></a>00050 <span class="comment">// cast the abstract state type to the type we expect</span> <a name="l00051"></a>00051 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE3StateSpace::StateType</a> *se3state = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE3StateSpace::StateType</a>>(); <a name="l00052"></a>00052 <a name="l00053"></a>00053 <span class="comment">// extract the first component of the state and cast it to what we expect</span> <a name="l00054"></a>00054 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a> *pos = se3state->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>>(0); <a name="l00055"></a>00055 <a name="l00056"></a>00056 <span class="comment">// extract the second component of the state and cast it to what we expect</span> <a name="l00057"></a>00057 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO3StateSpace::StateType</a> *rot = se3state->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO3StateSpace::StateType</a>>(1); <a name="l00058"></a>00058 <a name="l00059"></a>00059 <span class="comment">// check validity of state defined by pos & rot</span> <a name="l00060"></a>00060 <a name="l00061"></a>00061 <a name="l00062"></a>00062 <span class="comment">// return a value that is always true but uses the two variables we define, so we avoid compiler warnings</span> <a name="l00063"></a>00063 <span class="keywordflow">return</span> (<span class="keywordtype">void</span>*)rot != (<span class="keywordtype">void</span>*)pos; <a name="l00064"></a>00064 } <a name="l00065"></a>00065 <a name="l00066"></a>00066 <span class="keywordtype">void</span> plan(<span class="keywordtype">void</span>) <a name="l00067"></a>00067 { <a name="l00068"></a>00068 <span class="comment">// construct the state space we are planning in</span> <a name="l00069"></a>00069 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a> space(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ob::SE3StateSpace</a>()); <a name="l00070"></a>00070 <a name="l00071"></a>00071 <span class="comment">// set the bounds for the R^3 part of SE(3)</span> <a name="l00072"></a>00072 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(3); <a name="l00073"></a>00073 bounds.setLow(-1); <a name="l00074"></a>00074 bounds.setHigh(1); <a name="l00075"></a>00075 <a name="l00076"></a>00076 space->as<<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ob::SE3StateSpace</a>>()->setBounds(bounds); <a name="l00077"></a>00077 <a name="l00078"></a>00078 <span class="comment">// construct an instance of space information from this state space</span> <a name="l00079"></a>00079 <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">ob::SpaceInformationPtr</a> si(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ob::SpaceInformation</a>(space)); <a name="l00080"></a>00080 <a name="l00081"></a>00081 <span class="comment">// set state validity checking for this space</span> <a name="l00082"></a>00082 si->setStateValidityChecker(boost::bind(&isStateValid, _1)); <a name="l00083"></a>00083 <a name="l00084"></a>00084 <span class="comment">// create a random start state</span> <a name="l00085"></a>00085 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<></a> start(space); <a name="l00086"></a>00086 start.random(); <a name="l00087"></a>00087 <a name="l00088"></a>00088 <span class="comment">// create a random goal state</span> <a name="l00089"></a>00089 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<></a> goal(space); <a name="l00090"></a>00090 goal.random(); <a name="l00091"></a>00091 <a name="l00092"></a>00092 <span class="comment">// create a problem instance</span> <a name="l00093"></a>00093 <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">ob::ProblemDefinitionPtr</a> pdef(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ob::ProblemDefinition</a>(si)); <a name="l00094"></a>00094 <a name="l00095"></a>00095 <span class="comment">// set the start and goal states</span> <a name="l00096"></a>00096 pdef->setStartAndGoalStates(start, goal); <a name="l00097"></a>00097 <a name="l00098"></a>00098 <span class="comment">// create a planner for the defined space</span> <a name="l00099"></a>00099 <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">ob::PlannerPtr</a> planner(<span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html" title="RRT-Connect (RRTConnect)">og::RRTConnect</a>(si)); <a name="l00100"></a>00100 <a name="l00101"></a>00101 <span class="comment">// set the problem we are trying to solve for the planner</span> <a name="l00102"></a>00102 planner->setProblemDefinition(pdef); <a name="l00103"></a>00103 <a name="l00104"></a>00104 <span class="comment">// perform setup steps for the planner</span> <a name="l00105"></a>00105 planner->setup(); <a name="l00106"></a>00106 <a name="l00107"></a>00107 <a name="l00108"></a>00108 <span class="comment">// print the settings for this space</span> <a name="l00109"></a>00109 si->printSettings(std::cout); <a name="l00110"></a>00110 <a name="l00111"></a>00111 <span class="comment">// print the problem settings</span> <a name="l00112"></a>00112 pdef->print(std::cout); <a name="l00113"></a>00113 <a name="l00114"></a>00114 <span class="comment">// attempt to solve the problem within one second of planning time</span> <a name="l00115"></a>00115 <span class="keywordtype">bool</span> solved = planner->solve(1.0); <a name="l00116"></a>00116 <a name="l00117"></a>00117 <span class="keywordflow">if</span> (solved) <a name="l00118"></a>00118 { <a name="l00119"></a>00119 <span class="comment">// get the goal representation from the problem definition (not the same as the goal state)</span> <a name="l00120"></a>00120 <span class="comment">// and inquire about the found path</span> <a name="l00121"></a>00121 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">ob::PathPtr</a> path = pdef->getGoal()->getSolutionPath(); <a name="l00122"></a>00122 std::cout << <span class="stringliteral">"Found solution:"</span> << std::endl; <a name="l00123"></a>00123 <a name="l00124"></a>00124 <span class="comment">// print the path to screen</span> <a name="l00125"></a>00125 path->print(std::cout); <a name="l00126"></a>00126 } <a name="l00127"></a>00127 <span class="keywordflow">else</span> <a name="l00128"></a>00128 std::cout << <span class="stringliteral">"No solution found"</span> << std::endl; <a name="l00129"></a>00129 } <a name="l00130"></a>00130 <a name="l00131"></a>00131 <span class="keywordtype">void</span> planWithSimpleSetup(<span class="keywordtype">void</span>) <a name="l00132"></a>00132 { <a name="l00133"></a>00133 <span class="comment">// construct the state space we are planning in</span> <a name="l00134"></a>00134 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a> space(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ob::SE3StateSpace</a>()); <a name="l00135"></a>00135 <a name="l00136"></a>00136 <span class="comment">// set the bounds for the R^3 part of SE(3)</span> <a name="l00137"></a>00137 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(3); <a name="l00138"></a>00138 bounds.setLow(-1); <a name="l00139"></a>00139 bounds.setHigh(1); <a name="l00140"></a>00140 <a name="l00141"></a>00141 space->as<<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ob::SE3StateSpace</a>>()->setBounds(bounds); <a name="l00142"></a>00142 <a name="l00143"></a>00143 <span class="comment">// define a simple setup class</span> <a name="l00144"></a>00144 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a geometric problem.">og::SimpleSetup</a> ss(space); <a name="l00145"></a>00145 <a name="l00146"></a>00146 <span class="comment">// set state validity checking for this space</span> <a name="l00147"></a>00147 ss.setStateValidityChecker(boost::bind(&isStateValid, _1)); <a name="l00148"></a>00148 <a name="l00149"></a>00149 <span class="comment">// create a random start state</span> <a name="l00150"></a>00150 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<></a> start(space); <a name="l00151"></a>00151 start.random(); <a name="l00152"></a>00152 <a name="l00153"></a>00153 <span class="comment">// create a random goal state</span> <a name="l00154"></a>00154 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<></a> goal(space); <a name="l00155"></a>00155 goal.random(); <a name="l00156"></a>00156 <a name="l00157"></a>00157 <span class="comment">// set the start and goal states</span> <a name="l00158"></a>00158 ss.setStartAndGoalStates(start, goal); <a name="l00159"></a>00159 <a name="l00160"></a>00160 <span class="comment">// this call is optional, but we put it in to get more output information</span> <a name="l00161"></a>00161 ss.setup(); <a name="l00162"></a>00162 ss.print(); <a name="l00163"></a>00163 <a name="l00164"></a>00164 <span class="comment">// attempt to solve the problem within one second of planning time</span> <a name="l00165"></a>00165 <span class="keywordtype">bool</span> solved = ss.solve(1.0); <a name="l00166"></a>00166 <a name="l00167"></a>00167 <span class="keywordflow">if</span> (solved) <a name="l00168"></a>00168 { <a name="l00169"></a>00169 std::cout << <span class="stringliteral">"Found solution:"</span> << std::endl; <a name="l00170"></a>00170 <span class="comment">// print the path to screen</span> <a name="l00171"></a>00171 ss.simplifySolution(); <a name="l00172"></a>00172 ss.getSolutionPath().print(std::cout); <a name="l00173"></a>00173 } <a name="l00174"></a>00174 <span class="keywordflow">else</span> <a name="l00175"></a>00175 std::cout << <span class="stringliteral">"No solution found"</span> << std::endl; <a name="l00176"></a>00176 } <a name="l00177"></a>00177 <a name="l00178"></a>00178 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **) <a name="l00179"></a>00179 { <a name="l00180"></a>00180 std::cout << <span class="stringliteral">"OMPL version: "</span> << OMPL_VERSION << std::endl; <a name="l00181"></a>00181 <a name="l00182"></a>00182 plan(); <a name="l00183"></a>00183 <a name="l00184"></a>00184 std::cout << std::endl << std::endl; <a name="l00185"></a>00185 <a name="l00186"></a>00186 planWithSimpleSetup(); <a name="l00187"></a>00187 <a name="l00188"></a>00188 <span class="keywordflow">return</span> 0; <a name="l00189"></a>00189 } </pre></div></div> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:39 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>