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<title>OMPL: ompl::control::ControlSpace 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_1ControlSpace.html">ControlSpace</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::control::ControlSpace Class Reference</div> </div>
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<!-- doxytag: class="ompl::control::ControlSpace" -->
<p>A control space representing the space of applicable controls.
<a href="classompl_1_1control_1_1ControlSpace.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::ControlSpace:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1ControlSpace__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1ControlSpace_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1ControlSpace_inherit__map" id="ompl_1_1control_1_1ControlSpace_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1control_1_1CompoundControlSpace.html" title="A control space to allow the composition of control spaces." alt="" coords="5,83,251,112"/><area shape="rect" id="node5" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm." alt="" coords="275,83,523,112"/><area shape="rect" id="node7" href="classompl_1_1control_1_1ODEControlSpace.html" title="Representation of controls applied in ODE environments. This is an array of double values..." alt="" coords="292,160,505,189"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1control_1_1ControlSpace-members.html">List of all members.</a></p>
<table class="memberdecls">
<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="ac967d6891fd4e0d5328ff304842288f4"></a><!-- doxytag: member="ompl::control::ControlSpace::ControlSpace" ref="ac967d6891fd4e0d5328ff304842288f4" args="(const base::StateSpacePtr &stateSpace)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#ac967d6891fd4e0d5328ff304842288f4">ControlSpace</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">Construct a control space, given the state space. <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_1ControlSpace.html#aeeb235f8827b037a5d10001a74ac8066">as</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#aeeb235f8827b037a5d10001a74ac8066"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#a2d0de92502d963b38a6927d7fc1b14a6">as</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#a2d0de92502d963b38a6927d7fc1b14a6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="addb736f7c33b83c4d114d631910b38ad"></a><!-- doxytag: member="ompl::control::ControlSpace::getName" ref="addb736f7c33b83c4d114d631910b38ad" args="(void) const " -->
const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#addb736f7c33b83c4d114d631910b38ad">getName</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the name of the control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae7138a1a3dd3b2dba3e222538707e15d"></a><!-- doxytag: member="ompl::control::ControlSpace::setName" ref="ae7138a1a3dd3b2dba3e222538707e15d" args="(const std::string &name)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d">setName</a> (const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the name of the control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec3e0c154ae0f7251abcc69bfb909993"></a><!-- doxytag: member="ompl::control::ControlSpace::getStateSpace" ref="aec3e0c154ae0f7251abcc69bfb909993" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#aec3e0c154ae0f7251abcc69bfb909993">getStateSpace</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the state space this control space depends on. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae31e947905efef2988e7c3abcb096b30"></a><!-- doxytag: member="ompl::control::ControlSpace::getDimension" ref="ae31e947905efef2988e7c3abcb096b30" args="(void) const =0" -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#ae31e947905efef2988e7c3abcb096b30">getDimension</a> (void) const =0</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="a3ef493c696b9a14f2acc438744dc1bcc"></a><!-- doxytag: member="ompl::control::ControlSpace::allocControl" ref="a3ef493c696b9a14f2acc438744dc1bcc" args="(void) const =0" -->
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_1ControlSpace.html#a3ef493c696b9a14f2acc438744dc1bcc">allocControl</a> (void) const =0</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="a86a442ebb728b2e7920de2875d479711"></a><!-- doxytag: member="ompl::control::ControlSpace::freeControl" ref="a86a442ebb728b2e7920de2875d479711" args="(Control *control) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711">freeControl</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control) const =0</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="aed44e8a509283145434ae40fd2a3daee"></a><!-- doxytag: member="ompl::control::ControlSpace::copyControl" ref="aed44e8a509283145434ae40fd2a3daee" args="(Control *destination, const Control *source) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee">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 =0</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="ad17fe532b56a3ffb3282cdc02b32cee8"></a><!-- doxytag: member="ompl::control::ControlSpace::equalControls" ref="ad17fe532b56a3ffb3282cdc02b32cee8" args="(const Control *control1, const Control *control2) const =0" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8">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 =0</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="ab0d214352867b65976297b2f0bc6e57f"></a><!-- doxytag: member="ompl::control::ControlSpace::nullControl" ref="ab0d214352867b65976297b2f0bc6e57f" args="(Control *control) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f">nullControl</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control) const =0</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="a3c0a7517c09c0491b0ec0644151d90f5"></a><!-- doxytag: member="ompl::control::ControlSpace::allocControlSampler" ref="a3c0a7517c09c0491b0ec0644151d90f5" args="(void) const =0" -->
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_1ControlSpace.html#a3c0a7517c09c0491b0ec0644151d90f5">allocControlSampler</a> (void) const =0</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="af07a7dcaa5f24537f440e8297c077282"></a><!-- doxytag: member="ompl::control::ControlSpace::getValueAddressAtIndex" ref="af07a7dcaa5f24537f440e8297c077282" args="(Control *control, const unsigned int index) const " -->
virtual double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#af07a7dcaa5f24537f440e8297c077282">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="a3186af8403c734774619fa7383c3b10c"></a><!-- doxytag: member="ompl::control::ControlSpace::printControl" ref="a3186af8403c734774619fa7383c3b10c" args="(const Control *control, std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#a3186af8403c734774619fa7383c3b10c">printControl</a> (const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, std::ostream &out) 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="ad8842e0ecff583a3ae5b0548ff3f0d4d"></a><!-- doxytag: member="ompl::control::ControlSpace::printSettings" ref="ad8842e0ecff583a3ae5b0548ff3f0d4d" args="(std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#ad8842e0ecff583a3ae5b0548ff3f0d4d">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="aed37f6c32f3a5378faebc2ff4d764055"></a><!-- doxytag: member="ompl::control::ControlSpace::setup" ref="aed37f6c32f3a5378faebc2ff4d764055" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#aed37f6c32f3a5378faebc2ff4d764055">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 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="a8998ac5d1f469f7e3113b4e69d8de1cd"></a><!-- doxytag: member="ompl::control::ControlSpace::stateSpace_" ref="a8998ac5d1f469f7e3113b4e69d8de1cd" args="" -->
<a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">stateSpace_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The state space controls can be applied to. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A control space representing the space of applicable controls. </p>
<p>Definition at line <a class="el" href="ControlSpace_8h_source.html#l00063">63</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="a2d0de92502d963b38a6927d7fc1b14a6"></a><!-- doxytag: member="ompl::control::ControlSpace::as" ref="a2d0de92502d963b38a6927d7fc1b14a6" args="(void) const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class T > </div>
<table class="memname">
<tr>
<td class="memname">const T* ompl::control::ControlSpace::as </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cast 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#l00084">84</a> of file <a class="el" href="ControlSpace_8h_source.html">ControlSpace.h</a>.</p>
</div>
</div>
<a class="anchor" id="aeeb235f8827b037a5d10001a74ac8066"></a><!-- doxytag: member="ompl::control::ControlSpace::as" ref="aeeb235f8827b037a5d10001a74ac8066" args="(void)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class T > </div>
<table class="memname">
<tr>
<td class="memname">T* ompl::control::ControlSpace::as </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cast 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#l00074">74</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>
</div>
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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>
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