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<div class="textblock"> <img src="../images/ompl.png" class="nofloat" width="100%"><hr class="space"><p>The class ownership diagram above shows the relationship between the essential base classes in OMPL. For example, <b>SpaceInformation</b> owns a <b>StateSpace</b>; <b>Planner</b> does <em>not</em> own <b>SpaceInformation</b>, although a <b>Planner</b> does know about the <b>SpaceInformation</b>, and uses provided functionality. Users are encouraged to use the <b>SimpleSetup</b> class (<a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a geometric problem.">ompl::geometric::SimpleSetup</a> or <a class="el" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">ompl::control::SimpleSetup</a>). With this class, it is only necessary to instantiate a <a class="el" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ompl::base::StateSpace</a> object, a <a class="el" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ompl::control::ControlSpace</a> object (when planning with differential constraints, i.e, planning with controls), and a <a class="el" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">ompl::base::StateValidityChecker</a> object. Many common state spaces have already been implemented as derived <b>StateSpace</b> classes. See a list <a class="el" href="availableStateSpaces.html">here</a>.</p>
<p>The <a class="el" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">ompl::base::StateValidityChecker</a> is problem-specific, so no default implementation is available. See <a class="el" href="stateValidation.html">this document</a> for more information on state validity checking. For more advanced definitions of goals, see <a class="el" href="goalRepresentation.html">this document</a>.</p>
<dl class="user"><dt><b>Thread safety</b></dt><dd>All static, non-member or const member functions are thread safe. Calling member functions that are not const in multiple threads simultaneously is unsafe and locks should be used.</dd></dl>
<dl class="user"><dt><b>Memory management</b></dt><dd>For all base classes <b>Class</b>, a <b>ClassPtr</b> type is defined as well. <b>ClassPtr</b> is in fact a <a href="http://wiki.inkscape.org/wiki/index.php/Boost_shared_pointers">boost shared pointer</a> for <b>Class</b> : <div class="fragment"><pre class="fragment"><span class="keyword">class </span>Class;
<span class="keyword">typedef</span> boost::shared_ptr<Class> ClassPtr;
</pre></div> The code above is generated by the ClassForward macro defined in <a class="el" href="ClassForward_8h_source.html">ompl/util/ClassForward.h</a>: <div class="fragment"><pre class="fragment">ClassForward(Class);
</pre></div> Often the user is required to operate with <b>*Ptr</b> variables, in order to ensure all memory is freed at the termination of the program without explicitly calling <code>delete</code>. For some classes internal to the library, a C-style pointer is maintained instead of the <b>*Ptr</b> variable to avoid cyclic dependencies (which prevent memory de-allocation). </dd></dl>
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