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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2010, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_CONTROL_CONTROL_SPACE_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_CONTROL_CONTROL_SPACE_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/base/StateSpace.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/control/Control.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/control/ControlSampler.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/control/ControlSpaceTypes.h"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "<a class="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/util/ClassForward.h"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <boost/concept_check.hpp></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <iostream></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">namespace </span>control</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  OMPL_CLASS_FORWARD(ControlSpace);</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">class </span>ControlSpace</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  {</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ac1f2d5ea7ca8066e42287338d55e3bbe">ControlType</a> = <a class="code" href="classompl_1_1control_1_1Control.html">ompl::control::Control</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">// non-copyable</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  ControlSpace(<span class="keyword">const</span> ControlSpace &) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  ControlSpace &operator=(<span class="keyword">const</span> ControlSpace &) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ControlSpace(base::StateSpacePtr stateSpace);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">virtual</span> ~ControlSpace();</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  T *<a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad493371248cdfb29afd658994ed9416f">as</a>()</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T *<span class="keyword">></span>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> T *<a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad493371248cdfb29afd658994ed9416f">as</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keyword">const </span>T *<span class="keyword">></span>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">const</span> std::string &<a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8d4d96f52eb5ef8af387234def055005">getName</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d">setName</a>(<span class="keyword">const</span> std::string &name);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a640948a1a126edf2e6ecd341f1607b6c">getType</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df">type_</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">const</span> base::StateSpacePtr &<a class="code" href="classompl_1_1control_1_1ControlSpace.html#a0187ec3ccc38ab6ddc2dfc37107b7a62">getStateSpace</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">stateSpace_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <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#ac0db4716c6e243ee303e5273da9e6794">getDimension</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">virtual</span> Control *<a class="code" href="classompl_1_1control_1_1ControlSpace.html#a68756fe8e6fc9d3d2dc48540ee4afdcd">allocControl</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711">freeControl</a>(Control *control) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee">copyControl</a>(Control *destination, <span class="keyword">const</span> Control *source) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#ac1f2d5ea7ca8066e42287338d55e3bbe"> 131</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8">equalControls</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control1, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control2) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f">nullControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a92ec45728c99bcbc2d8dce127687fa89">allocDefaultControlSampler</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#ad493371248cdfb29afd658994ed9416f"> 144</a></span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a317bb364496fad19fd792253f9780938">allocControlSampler</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">setControlSamplerAllocator</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1control.html#afe1127695e8497f3c41d6666f4706611">ControlSamplerAllocator</a> &csa);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad47a72cbf62af06147a324c906cf394e">clearControlSamplerAllocator</a>();</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">virtual</span> <span class="keywordtype">double</span> *<a class="code" href="classompl_1_1control_1_1ControlSpace.html#adbb27f9ea57bcd3b8ad91fe8ef5d2a42">getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ac0733020cf25ff2cd6aedc979d50e187">printControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, std::ostream &out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a5446589551d62815158e62a7cb78346b">printSettings</a>(std::ostream &out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a1d21669ebe1a4d0d68936ab459af9a1f">setup</a>();</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <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#af62de8cc9293911df87cf2cb2ae4bbc8">getSerializationLength</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a640948a1a126edf2e6ecd341f1607b6c"> 171</a></span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a5bbdb02a33cc6ed480262778da1a99b2">serialize</a>(<span class="keywordtype">void</span> *serialization, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#adcd3724c133be477c59c5e435a437049">deserialize</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl, <span class="keyword">const</span> <span class="keywordtype">void</span> *serialization) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a0187ec3ccc38ab6ddc2dfc37107b7a62"> 177</a></span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a715b01e3b40da2aee6a9ded70f3efccf">computeSignature</a>(std::vector<int> &signature) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a47dd7e7b2523816ca9be02de84a66c5b">isCompound</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df">type_</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  base::StateSpacePtr <a class="code" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">stateSpace_</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="namespaceompl_1_1control.html#afe1127695e8497f3c41d6666f4706611">ControlSamplerAllocator</a> <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aafc829af78b3a32e549bd6ed8f0bc8b0">csa_</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  std::string name_;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  };</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html">CompoundControlSpace</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html">ControlSpace</a></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  {</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ae823376c93dd222d632961ca2bd14daf">ControlType</a> = <a class="code" href="classompl_1_1control_1_1CompoundControl.html">ompl::control::CompoundControl</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">CompoundControlSpace</a>(<span class="keyword">const</span> base::StateSpacePtr &stateSpace)</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  : <a class="code" href="classompl_1_1control_1_1ControlSpace.html">ControlSpace</a>(stateSpace), <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">componentCount_</a>(0), <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">locked_</a>(false)</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  {</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  ~<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">CompoundControlSpace</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  T *<a class="code" href="classompl_1_1control_1_1ControlSpace.html#ad493371248cdfb29afd658994ed9416f">as</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T *<span class="keyword">></span>(<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">getSubspace</a>(index).get());</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  }</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">addSubspace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &component);</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a002a87ce1e4b2ea01ea9d5b47750c213">getSubspaceCount</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">getSubspace</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">getSubspace</a>(<span class="keyword">const</span> std::string &name) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a5e721ccefd5049b94147acd4acf8e95f">getDimension</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  Control *<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a69891186af0b0838064bf693568e0604">allocControl</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a76048894ec70f6a0b62de7c8b6dae12f">freeControl</a>(Control *control) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a2410ccc7c104e08605dda3311312ad68">copyControl</a>(Control *destination, <span class="keyword">const</span> Control *source) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  </div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a15a3cb9ee25073a66f424f8d19dd9622">equalControls</a>(<span class="keyword">const</span> Control *control1, <span class="keyword">const</span> Control *control2) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a423508ba66866d4331ececabc1801beb">nullControl</a>(Control *control) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a2d9f4b6552f90536cc2d5417c6e72613">allocDefaultControlSampler</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df"> 251</a></span>  <span class="keywordtype">double</span> *<a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a1292eab0403fdb4d0262267324428b3e">getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ab81413ec2332e2a27c604be1fba38316">printControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, std::ostream &out = std::cout) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd"> 254</a></span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a3f41a1873dc9a1bccac523d739bc1452">printSettings</a>(std::ostream &out) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSpace.html#aafc829af78b3a32e549bd6ed8f0bc8b0"> 257</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a76689a2db8bb4152e63a4d2afa14f4b2">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a2634bf6401da8297a9fb8b4c86ed32de">getSerializationLength</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a5f4d31dec228c8e7d1714b21d6d68f0b">serialize</a>(<span class="keywordtype">void</span> *serialization, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#aaa50d0a87aeafc1eb9b85a6ac858008d">deserialize</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *ctrl, <span class="keyword">const</span> <span class="keywordtype">void</span> *serialization) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a644e9cb40c45b065c02059789d71d12f">isCompound</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSpace.html#ae823376c93dd222d632961ca2bd14daf"> 269</a></span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a0289ef7951c86aa50de720253c4b72a9">lock</a>();</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  std::vector<ControlSpacePtr> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50">components_</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">componentCount_</a>;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">locked_</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  };</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> }</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a0187ec3ccc38ab6ddc2dfc37107b7a62"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a0187ec3ccc38ab6ddc2dfc37107b7a62">ompl::control::ControlSpace::getStateSpace</a></div><div class="ttdeci">const base::StateSpacePtr & getStateSpace() const</div><div class="ttdoc">Return the state space this control space depends on.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00177">ControlSpace.h:177</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a47dd7e7b2523816ca9be02de84a66c5b"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a47dd7e7b2523816ca9be02de84a66c5b">ompl::control::ControlSpace::isCompound</a></div><div class="ttdeci">virtual bool isCompound() const</div><div class="ttdoc">Check if the control space is compound.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00138">ControlSpace.cpp:138</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a002a87ce1e4b2ea01ea9d5b47750c213"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a002a87ce1e4b2ea01ea9d5b47750c213">ompl::control::CompoundControlSpace::getSubspaceCount</a></div><div class="ttdeci">unsigned int getSubspaceCount() const</div><div class="ttdoc">Get the number of control spaces that make up the compound control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00152">ControlSpace.cpp:152</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a76689a2db8bb4152e63a4d2afa14f4b2"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a76689a2db8bb4152e63a4d2afa14f4b2">ompl::control::CompoundControlSpace::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform final setup steps. This function is automatically called by the SpaceInformation.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00274">ControlSpace.cpp:274</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Control_html"><div class="ttname"><a href="classompl_1_1control_1_1Control.html">ompl::control::Control</a></div><div class="ttdoc">Definition of an abstract control.</div><div class="ttdef"><b>Definition:</b> <a href="Control_8h_source.html#l00111">Control.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ab26054f5b3b19bdbff38de768f7637e6"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ab26054f5b3b19bdbff38de768f7637e6">ompl::control::CompoundControlSpace::componentCount_</a></div><div class="ttdeci">unsigned int componentCount_</div><div class="ttdoc">The number of contained components.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00346">ControlSpace.h:346</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a10fa7793c1fa25f548a3e72872dfb1df"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a10fa7793c1fa25f548a3e72872dfb1df">ompl::control::CompoundControlSpace::locked_</a></div><div class="ttdeci">bool locked_</div><div class="ttdoc">Flag indicating whether adding further components is allowed or not.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00349">ControlSpace.h:349</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html">ompl::control::CompoundControlSpace</a></div><div class="ttdoc">A control space to allow the composition of control spaces.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00265">ControlSpace.h:265</a></div></div>
<div class="ttc" id="anamespaceompl_1_1control_html_afe1127695e8497f3c41d6666f4706611"><div class="ttname"><a href="namespaceompl_1_1control.html#afe1127695e8497f3c41d6666f4706611">ompl::control::ControlSamplerAllocator</a></div><div class="ttdeci">std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator</div><div class="ttdoc">Definition of a function that can allocate a control sampler.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00223">ControlSampler.h:223</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ae823376c93dd222d632961ca2bd14daf"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ae823376c93dd222d632961ca2bd14daf">ompl::control::CompoundControlSpace::ControlType</a></div><div class="ttdeci">ompl::control::CompoundControl ControlType</div><div class="ttdoc">Define the type of control allocated by this control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00269">ControlSpace.h:269</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a644e9cb40c45b065c02059789d71d12f"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a644e9cb40c45b065c02059789d71d12f">ompl::control::CompoundControlSpace::isCompound</a></div><div class="ttdeci">bool isCompound() const override</div><div class="ttdoc">Check if the control space is compound.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00311">ControlSpace.cpp:311</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a8d4d96f52eb5ef8af387234def055005"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a8d4d96f52eb5ef8af387234def055005">ompl::control::ControlSpace::getName</a></div><div class="ttdeci">const std::string & getName() const</div><div class="ttdoc">Get the name of the control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00072">ControlSpace.cpp:72</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpacePtr_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::ControlSpace.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ad28947f3701c3da06c31f388c243faa1"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ad28947f3701c3da06c31f388c243faa1">ompl::control::CompoundControlSpace::getSubspace</a></div><div class="ttdeci">const ControlSpacePtr & getSubspace(unsigned int index) const</div><div class="ttdoc">Get a specific subspace from the compound control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00157">ControlSpace.cpp:157</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a0289ef7951c86aa50de720253c4b72a9"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a0289ef7951c86aa50de720253c4b72a9">ompl::control::CompoundControlSpace::lock</a></div><div class="ttdeci">void lock()</div><div class="ttdoc">Lock this control space. This means no further control spaces can be added as components....</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00231">ControlSpace.cpp:231</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_adbb27f9ea57bcd3b8ad91fe8ef5d2a42"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#adbb27f9ea57bcd3b8ad91fe8ef5d2a42">ompl::control::ControlSpace::getValueAddressAtIndex</a></div><div class="ttdeci">virtual double * getValueAddressAtIndex(Control *control, unsigned int index) const</div><div class="ttdoc">Many controls contain a number of double values. This function provides a means to get the memory add...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00103">ControlSpace.cpp:103</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a5e721ccefd5049b94147acd4acf8e95f"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a5e721ccefd5049b94147acd4acf8e95f">ompl::control::CompoundControlSpace::getDimension</a></div><div class="ttdeci">unsigned int getDimension() const override</div><div class="ttdoc">Get the dimension of this control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00172">ControlSpace.cpp:172</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ae7138a1a3dd3b2dba3e222538707e15d"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d">ompl::control::ControlSpace::setName</a></div><div class="ttdeci">void setName(const std::string &name)</div><div class="ttdoc">Set the name of the control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00077">ControlSpace.cpp:77</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aff9f2582768673ba3c2091c960294115"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">ompl::control::ControlSpace::setControlSamplerAllocator</a></div><div class="ttdeci">void setControlSamplerAllocator(const ControlSamplerAllocator &csa)</div><div class="ttdoc">Set the sampler allocator to use.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00093">ControlSpace.cpp:93</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a715b01e3b40da2aee6a9ded70f3efccf"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a715b01e3b40da2aee6a9ded70f3efccf">ompl::control::ControlSpace::computeSignature</a></div><div class="ttdeci">void computeSignature(std::vector< int > &signature) const</div><div class="ttdoc">Compute an array of ints that uniquely identifies the structure of the control space....</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00131">ControlSpace.cpp:131</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a76048894ec70f6a0b62de7c8b6dae12f"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a76048894ec70f6a0b62de7c8b6dae12f">ompl::control::CompoundControlSpace::freeControl</a></div><div class="ttdeci">void freeControl(Control *control) const override</div><div class="ttdoc">Free the memory of a control.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00189">ControlSpace.cpp:189</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_aecf151ee04bb4cefac7d3891a7ae1214"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#aecf151ee04bb4cefac7d3891a7ae1214">ompl::control::CompoundControlSpace::CompoundControlSpace</a></div><div class="ttdeci">CompoundControlSpace(const base::StateSpacePtr &stateSpace)</div><div class="ttdoc">Constructor. The corresponding state space needs to be specified.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00272">ControlSpace.h:272</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a68756fe8e6fc9d3d2dc48540ee4afdcd"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a68756fe8e6fc9d3d2dc48540ee4afdcd">ompl::control::ControlSpace::allocControl</a></div><div class="ttdeci">virtual Control * allocControl() const =0</div><div class="ttdoc">Allocate memory for a control.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a317bb364496fad19fd792253f9780938"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a317bb364496fad19fd792253f9780938">ompl::control::ControlSpace::allocControlSampler</a></div><div class="ttdeci">virtual ControlSamplerPtr allocControlSampler() const</div><div class="ttdoc">Allocate an instance of the control sampler for this space. This sampler will be allocated with the s...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00086">ControlSpace.cpp:86</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a5f4d31dec228c8e7d1714b21d6d68f0b"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a5f4d31dec228c8e7d1714b21d6d68f0b">ompl::control::CompoundControlSpace::serialize</a></div><div class="ttdeci">void serialize(void *serialization, const Control *ctrl) const override</div><div class="ttdoc">Serializes the given control into the serialization buffer.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00289">ControlSpace.cpp:289</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html">ompl::control::ControlSpace</a></div><div class="ttdoc">A control space representing the space of applicable controls.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00127">ControlSpace.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ac0db4716c6e243ee303e5273da9e6794"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ac0db4716c6e243ee303e5273da9e6794">ompl::control::ControlSpace::getDimension</a></div><div class="ttdeci">virtual unsigned int getDimension() const =0</div><div class="ttdoc">Get the dimension of this control space.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a2d9f4b6552f90536cc2d5417c6e72613"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a2d9f4b6552f90536cc2d5417c6e72613">ompl::control::CompoundControlSpace::allocDefaultControlSampler</a></div><div class="ttdeci">ControlSamplerPtr allocDefaultControlSampler() const override</div><div class="ttdoc">Allocate the default control sampler.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00223">ControlSpace.cpp:223</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a5446589551d62815158e62a7cb78346b"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a5446589551d62815158e62a7cb78346b">ompl::control::ControlSpace::printSettings</a></div><div class="ttdeci">virtual void printSettings(std::ostream &out) const</div><div class="ttdoc">Print the settings for this control space to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00113">ControlSpace.cpp:113</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_ab81413ec2332e2a27c604be1fba38316"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#ab81413ec2332e2a27c604be1fba38316">ompl::control::CompoundControlSpace::printControl</a></div><div class="ttdeci">void printControl(const Control *control, std::ostream &out=std::cout) const override</div><div class="ttdoc">Print a control to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00257">ControlSpace.cpp:257</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a81070174fae65611ce0779673c5a60df"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a81070174fae65611ce0779673c5a60df">ompl::control::ControlSpace::type_</a></div><div class="ttdeci">int type_</div><div class="ttdoc">A type assigned for this control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00251">ControlSpace.h:251</a></div></div>
<div class="ttc" id="aConsole_8h_html"><div class="ttname"><a href="Console_8h.html">Console.h</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a640948a1a126edf2e6ecd341f1607b6c"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a640948a1a126edf2e6ecd341f1607b6c">ompl::control::ControlSpace::getType</a></div><div class="ttdeci">int getType() const</div><div class="ttdoc">Get the type of the control space. The type can be used to verify whether two space instances are of ...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00171">ControlSpace.h:171</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ad493371248cdfb29afd658994ed9416f"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ad493371248cdfb29afd658994ed9416f">ompl::control::ControlSpace::as</a></div><div class="ttdeci">T * as()</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00144">ControlSpace.h:144</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a3f41a1873dc9a1bccac523d739bc1452"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a3f41a1873dc9a1bccac523d739bc1452">ompl::control::CompoundControlSpace::printSettings</a></div><div class="ttdeci">void printSettings(std::ostream &out) const override</div><div class="ttdoc">Print the settings for this control space to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00266">ControlSpace.cpp:266</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ac1f2d5ea7ca8066e42287338d55e3bbe"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ac1f2d5ea7ca8066e42287338d55e3bbe">ompl::control::ControlSpace::ControlType</a></div><div class="ttdeci">ompl::control::Control ControlType</div><div class="ttdoc">Define the type of control allocated by this control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00131">ControlSpace.h:131</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControl_html"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControl.html">ompl::control::CompoundControl</a></div><div class="ttdoc">Definition of a compound control.</div><div class="ttdef"><b>Definition:</b> <a href="Control_8h_source.html#l00148">Control.h:148</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a69891186af0b0838064bf693568e0604"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a69891186af0b0838064bf693568e0604">ompl::control::CompoundControlSpace::allocControl</a></div><div class="ttdeci">Control * allocControl() const override</div><div class="ttdoc">Allocate memory for a control.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00180">ControlSpace.cpp:180</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ad47a72cbf62af06147a324c906cf394e"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ad47a72cbf62af06147a324c906cf394e">ompl::control::ControlSpace::clearControlSamplerAllocator</a></div><div class="ttdeci">void clearControlSamplerAllocator()</div><div class="ttdoc">Clear the control sampler allocator (reset to default)</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00098">ControlSpace.cpp:98</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ac0733020cf25ff2cd6aedc979d50e187"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ac0733020cf25ff2cd6aedc979d50e187">ompl::control::ControlSpace::printControl</a></div><div class="ttdeci">virtual void printControl(const Control *control, std::ostream &out) const</div><div class="ttdoc">Print a control to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00108">ControlSpace.cpp:108</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a86a442ebb728b2e7920de2875d479711"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a86a442ebb728b2e7920de2875d479711">ompl::control::ControlSpace::freeControl</a></div><div class="ttdeci">virtual void freeControl(Control *control) const =0</div><div class="ttdoc">Free the memory of a control.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a1d21669ebe1a4d0d68936ab459af9a1f"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a1d21669ebe1a4d0d68936ab459af9a1f">ompl::control::ControlSpace::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdoc">Perform final setup steps. This function is automatically called by the SpaceInformation.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00082">ControlSpace.cpp:82</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_af62de8cc9293911df87cf2cb2ae4bbc8"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#af62de8cc9293911df87cf2cb2ae4bbc8">ompl::control::ControlSpace::getSerializationLength</a></div><div class="ttdeci">virtual unsigned int getSerializationLength() const</div><div class="ttdoc">Returns the serialization size for a single control in this space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00118">ControlSpace.cpp:118</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_aaa50d0a87aeafc1eb9b85a6ac858008d"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#aaa50d0a87aeafc1eb9b85a6ac858008d">ompl::control::CompoundControlSpace::deserialize</a></div><div class="ttdeci">void deserialize(Control *ctrl, const void *serialization) const override</div><div class="ttdoc">Deserializes a control from the serialization buffer.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00300">ControlSpace.cpp:300</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a27e33f86e7f378220485bf137f5f8f50"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a27e33f86e7f378220485bf137f5f8f50">ompl::control::CompoundControlSpace::components_</a></div><div class="ttdeci">std::vector< ControlSpacePtr > components_</div><div class="ttdoc">The component control spaces that make up the compound control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00343">ControlSpace.h:343</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a97f6c0cb2ae71155e710fedf64f07c70"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">ompl::control::CompoundControlSpace::addSubspace</a></div><div class="ttdeci">virtual void addSubspace(const ControlSpacePtr &component)</div><div class="ttdoc">Adds a control space as a component of the compound control space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00143">ControlSpace.cpp:143</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a8998ac5d1f469f7e3113b4e69d8de1cd"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a8998ac5d1f469f7e3113b4e69d8de1cd">ompl::control::ControlSpace::stateSpace_</a></div><div class="ttdeci">base::StateSpacePtr stateSpace_</div><div class="ttdoc">The state space controls can be applied to.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00254">ControlSpace.h:254</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a423508ba66866d4331ececabc1801beb"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a423508ba66866d4331ececabc1801beb">ompl::control::CompoundControlSpace::nullControl</a></div><div class="ttdeci">void nullControl(Control *control) const override</div><div class="ttdoc">Make the control have no effect if it were to be applied to a state for any amount of time.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00216">ControlSpace.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSamplerPtr_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::ControlSampler.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a2634bf6401da8297a9fb8b4c86ed32de"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a2634bf6401da8297a9fb8b4c86ed32de">ompl::control::CompoundControlSpace::getSerializationLength</a></div><div class="ttdeci">unsigned int getSerializationLength() const override</div><div class="ttdoc">Returns the serialization size for a single control in this space.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00281">ControlSpace.cpp:281</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_adcd3724c133be477c59c5e435a437049"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#adcd3724c133be477c59c5e435a437049">ompl::control::ControlSpace::deserialize</a></div><div class="ttdeci">virtual void deserialize(Control *ctrl, const void *serialization) const</div><div class="ttdoc">Deserializes a control from the serialization buffer.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00127">ControlSpace.cpp:127</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ad17fe532b56a3ffb3282cdc02b32cee8"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ad17fe532b56a3ffb3282cdc02b32cee8">ompl::control::ControlSpace::equalControls</a></div><div class="ttdeci">virtual bool equalControls(const Control *control1, const Control *control2) const =0</div><div class="ttdoc">Check if two controls are the same.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a1292eab0403fdb4d0262267324428b3e"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a1292eab0403fdb4d0262267324428b3e">ompl::control::CompoundControlSpace::getValueAddressAtIndex</a></div><div class="ttdeci">double * getValueAddressAtIndex(Control *control, unsigned int index) const override</div><div class="ttdoc">Many controls contain a number of double values. This function provides a means to get the memory add...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00236">ControlSpace.cpp:236</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a5bbdb02a33cc6ed480262778da1a99b2"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a5bbdb02a33cc6ed480262778da1a99b2">ompl::control::ControlSpace::serialize</a></div><div class="ttdeci">virtual void serialize(void *serialization, const Control *ctrl) const</div><div class="ttdoc">Serializes the given control into the serialization buffer.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00123">ControlSpace.cpp:123</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aafc829af78b3a32e549bd6ed8f0bc8b0"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aafc829af78b3a32e549bd6ed8f0bc8b0">ompl::control::ControlSpace::csa_</a></div><div class="ttdeci">ControlSamplerAllocator csa_</div><div class="ttdoc">An optional control sampler allocator.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00257">ControlSpace.h:257</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a2410ccc7c104e08605dda3311312ad68"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a2410ccc7c104e08605dda3311312ad68">ompl::control::CompoundControlSpace::copyControl</a></div><div class="ttdeci">void copyControl(Control *destination, const Control *source) const override</div><div class="ttdoc">Copy a control to another.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00198">ControlSpace.cpp:198</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_a92ec45728c99bcbc2d8dce127687fa89"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#a92ec45728c99bcbc2d8dce127687fa89">ompl::control::ControlSpace::allocDefaultControlSampler</a></div><div class="ttdeci">virtual ControlSamplerPtr allocDefaultControlSampler() const =0</div><div class="ttdoc">Allocate the default control sampler.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aed44e8a509283145434ae40fd2a3daee"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aed44e8a509283145434ae40fd2a3daee">ompl::control::ControlSpace::copyControl</a></div><div class="ttdeci">virtual void copyControl(Control *destination, const Control *source) const =0</div><div class="ttdoc">Copy a control to another.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a15a3cb9ee25073a66f424f8d19dd9622"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a15a3cb9ee25073a66f424f8d19dd9622">ompl::control::CompoundControlSpace::equalControls</a></div><div class="ttdeci">bool equalControls(const Control *control1, const Control *control2) const override</div><div class="ttdoc">Check if two controls are the same.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8cpp_source.html#l00206">ControlSpace.cpp:206</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_ab0d214352867b65976297b2f0bc6e57f"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#ab0d214352867b65976297b2f0bc6e57f">ompl::control::ControlSpace::nullControl</a></div><div class="ttdeci">virtual void nullControl(Control *control) const =0</div><div class="ttdoc">Make the control have no effect if it were to be applied to a state for any amount of time.</div></div>
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