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<title>OMPL: ompl::control::CompoundControlSpace Class Reference</title>
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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="namespaceompl_1_1control.html">control</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html">CompoundControlSpace</a> </li>
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<a href="#pub-types">Public Types</a> |
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<div class="title">ompl::control::CompoundControlSpace Class Reference</div> </div>
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<!-- doxytag: class="ompl::control::CompoundControlSpace" --><!-- doxytag: inherits="ompl::control::ControlSpace" -->
<p>A control space to allow the composition of control spaces.
<a href="classompl_1_1control_1_1CompoundControlSpace.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ControlSpace_8h_source.html">ControlSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::control::CompoundControlSpace:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1CompoundControlSpace__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1CompoundControlSpace_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1CompoundControlSpace_inherit__map" id="ompl_1_1control_1_1CompoundControlSpace_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls." alt="" coords="36,5,220,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1control_1_1CompoundControlSpace-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0fd269c24c5e61cea5bbe264a6da4d81"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::ControlType" ref="a0fd269c24c5e61cea5bbe264a6da4d81" args="" -->
typedef <a class="el" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a0fd269c24c5e61cea5bbe264a6da4d81">ControlType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Define the type of control allocated by this control space. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aecf151ee04bb4cefac7d3891a7ae1214"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::CompoundControlSpace" ref="aecf151ee04bb4cefac7d3891a7ae1214" args="(const base::StateSpacePtr &stateSpace)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">CompoundControlSpace</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> &stateSpace)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. The corresponding state space needs to be specified. <br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a8fbb564cd496d7770c0872af019a536a">as</a> (const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast a component of this instance to a desired type. <a href="#a8fbb564cd496d7770c0872af019a536a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a62cfe85825a8f1278094e645dcbf2bf1"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::addSubSpace" ref="a62cfe85825a8f1278094e645dcbf2bf1" args="(const ControlSpacePtr &component)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a62cfe85825a8f1278094e645dcbf2bf1">addSubSpace</a> (const <a class="el" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &component)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Adds a control space as a component of the compound control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad81613125e0b57d524383bcf512968ee"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::getSubSpaceCount" ref="ad81613125e0b57d524383bcf512968ee" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#ad81613125e0b57d524383bcf512968ee">getSubSpaceCount</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of control spaces that make up the compound control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae951c5eba5e8c9358a0a67a910081c8c"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::getSubSpace" ref="ae951c5eba5e8c9358a0a67a910081c8c" args="(const unsigned int index) const " -->
const <a class="el" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#ae951c5eba5e8c9358a0a67a910081c8c">getSubSpace</a> (const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a specific subspace from the compound control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a92abb577177342adbd039102f789faa2"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::getSubSpace" ref="a92abb577177342adbd039102f789faa2" args="(const std::string &name) const " -->
const <a class="el" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a92abb577177342adbd039102f789faa2">getSubSpace</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a specific subspace from the compound control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a22d8156ec5990d3753a1bdf6d9c88888"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::getDimension" ref="a22d8156ec5990d3753a1bdf6d9c88888" args="(void) const " -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a22d8156ec5990d3753a1bdf6d9c88888">getDimension</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the dimension of this control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac138ccdff607cd465e3549a3efb1e511"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::allocControl" ref="ac138ccdff607cd465e3549a3efb1e511" args="(void) const " -->
virtual <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#ac138ccdff607cd465e3549a3efb1e511">allocControl</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate memory for a control. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a28f345b66f692f0320131ebdc67cf3fd"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::freeControl" ref="a28f345b66f692f0320131ebdc67cf3fd" args="(Control *control) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a28f345b66f692f0320131ebdc67cf3fd">freeControl</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of a control. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a788677c2b9ce983580d91e45300147a3"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::copyControl" ref="a788677c2b9ce983580d91e45300147a3" args="(Control *destination, const Control *source) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a788677c2b9ce983580d91e45300147a3">copyControl</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *destination, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *source) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy a control to another. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a973585257979befcf82c31a8fe33c48e"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::equalControls" ref="a973585257979befcf82c31a8fe33c48e" args="(const Control *control1, const Control *control2) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a973585257979befcf82c31a8fe33c48e">equalControls</a> (const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control1, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if two controls are the same. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a808ce868a2d0e29d75167377da1c9e87"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::nullControl" ref="a808ce868a2d0e29d75167377da1c9e87" args="(Control *control) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a808ce868a2d0e29d75167377da1c9e87">nullControl</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Make the control have no effect if it were to be applied to a state for any amount of time. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c27faba75bd20d9d41b495d81ef9a13"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::allocControlSampler" ref="a1c27faba75bd20d9d41b495d81ef9a13" args="(void) const " -->
virtual <a class="el" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a1c27faba75bd20d9d41b495d81ef9a13">allocControlSampler</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate a control sampler. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a21916aee5cb82733348c8d3d86957ec7"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::getValueAddressAtIndex" ref="a21916aee5cb82733348c8d3d86957ec7" args="(Control *control, const unsigned int index) const " -->
virtual double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a21916aee5cb82733348c8d3d86957ec7">getValueAddressAtIndex</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Many controls contain a number of double values. This function provides a means to get the memory address of a double value from a control <em>control</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the control), the return value is NULL. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4d98173138ebc8bd5e2d09afd50af24d"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::printControl" ref="a4d98173138ebc8bd5e2d09afd50af24d" args="(const Control *control, std::ostream &out=std::cout) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a4d98173138ebc8bd5e2d09afd50af24d">printControl</a> (const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print a control to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7c2d4ecff19582b6c1b6e253571a1305"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::printSettings" ref="a7c2d4ecff19582b6c1b6e253571a1305" args="(std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a7c2d4ecff19582b6c1b6e253571a1305">printSettings</a> (std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the settings for this control space to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa3ce54e56d20e94f74a5bdc3f6187c2f"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::setup" ref="aa3ce54e56d20e94f74a5bdc3f6187c2f" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#aa3ce54e56d20e94f74a5bdc3f6187c2f">setup</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform final setup steps. This function is automatically called by the <a class="el" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad86eeac301ccee8f278a54c5d36f7c0c"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::lock" ref="ad86eeac301ccee8f278a54c5d36f7c0c" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#ad86eeac301ccee8f278a54c5d36f7c0c">lock</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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 <a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html" title="A control space to allow the composition of control spaces.">CompoundControlSpace</a> to prevent the user to add further components. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a27e33f86e7f378220485bf137f5f8f50"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::components_" ref="a27e33f86e7f378220485bf137f5f8f50" args="" -->
std::vector< <a class="el" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50">components_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The component control spaces that make up the compound control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab26054f5b3b19bdbff38de768f7637e6"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::componentCount_" ref="ab26054f5b3b19bdbff38de768f7637e6" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">componentCount_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of contained components. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a10fa7793c1fa25f548a3e72872dfb1df"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::locked_" ref="a10fa7793c1fa25f548a3e72872dfb1df" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">locked_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag indicating whether adding further components is allowed or not. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A control space to allow the composition of control spaces. </p>
<p>Definition at line <a class="el" href="ControlSpace_8h_source.html#l00152">152</a> of file <a class="el" href="ControlSpace_8h_source.html">ControlSpace.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a8fbb564cd496d7770c0872af019a536a"></a><!-- doxytag: member="ompl::control::CompoundControlSpace::as" ref="a8fbb564cd496d7770c0872af019a536a" args="(const unsigned int index) const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class T > </div>
<table class="memname">
<tr>
<td class="memname">T* ompl::control::CompoundControlSpace::as </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>index</em></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
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</div>
<div class="memdoc">
<p>Cast a component of this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a control space </p>
</p>
<p>Definition at line <a class="el" href="ControlSpace_8h_source.html#l00170">170</a> of file <a class="el" href="ControlSpace_8h_source.html">ControlSpace.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/control/<a class="el" href="ControlSpace_8h_source.html">ControlSpace.h</a></li>
<li>src/ompl/control/src/<a class="el" href="ControlSpace_8cpp_source.html">ControlSpace.cpp</a></li>
</ul>
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<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 23:04:42 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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