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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) 2014, 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">/* Authors: Mark Moll */</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_GEOMETRIC_PLANNERS_CFOREST_CFORESTSTATESPACEWRAPPER_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_CFOREST_CFORESTSTATESPACEWRAPPER_</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/geometric/planners/cforest/CForestStateSampler.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/base/StateSpace.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/base/Planner.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">class </span>CForest;</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>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">namespace </span>base</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">class </span>CForestStateSpaceWrapper : <span class="keyword">public</span> StateSpace</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  CForestStateSpaceWrapper(geometric::CForest *cforest, base::StateSpace *space)</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  : cforest_(cforest), space_(space), planner_(nullptr)</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad">setName</a>(space->getName() + <span class="stringliteral">"CForestWrapper"</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  ~CForestStateSpaceWrapper() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordtype">void</span> setPlanner(base::Planner *planner)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  planner_ = planner;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  }</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> base::Planner *getPlanner()<span class="keyword"> const</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">return</span> planner_;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</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>  geometric::CForest *getCForestInstance()<span class="keyword"> const</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> cforest_;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7189dd4f4d8a1be09e3e18cb9b53a647">allocDefaultStateSampler</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a66be13e51b2ab78a34db525432396302">allocStateSampler</a>() <span class="keyword">const override</span>;</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="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aa36dfbc0119ab4514dda12806a2c75ab">setup</a>() <span class="keyword">override</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"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html"> 87</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a714756532091ab256b3d6f036e322c81">isCompound</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a776ecd4d7ba042f549e4fb18c4755558">isCompound</a>();</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aac34c7ac165f60b6821a846d473a473d">isDiscrete</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a8b53e2150c387718a91046af20817724">isDiscrete</a>();</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="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a65d2a071d311bac9d7d49d6aef588d83">isHybrid</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a9561271be70c7a437d793316d40d1b8b">isHybrid</a>();</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7c1b728f95012569f6c17d5c42938b9c">isMetricSpace</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a86776683449978dedfe3213f57637cba">isMetricSpace</a>();</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1b0fabc3ed4329c4590e593417259444">hasSymmetricDistance</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a117467017c37377ed1a59056a8082a1b">hasSymmetricDistance</a>();</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ad56d8e70348f91ec8643ae4d0e223a0a">hasSymmetricInterpolate</a>()<span class="keyword"> const override</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> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a0a9a294715dbdd51c9014d8580ae6706">hasSymmetricInterpolate</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>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aab96c1376f04dcdedc57091802bbab9c">getLongestValidSegmentFraction</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a2415182e4c4409dd70a773a4481429b7">getLongestValidSegmentFraction</a>();</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aff87df59be6dbf252196918875cbb3d2">setLongestValidSegmentFraction</a>(<span class="keywordtype">double</span> segmentFraction)<span class="keyword"> override</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#ad8e6450ad306d272df39751aa7e690b8">setLongestValidSegmentFraction</a>(segmentFraction);</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a714756532091ab256b3d6f036e322c81"> 119</a></span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1e73c8bf8c6555bfd14e5eb6976a1fd9">validSegmentCount</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state2)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a44d83288d6636eb134b3335bb1c57fcf">validSegmentCount</a>(state1, state2);</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  }</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aac34c7ac165f60b6821a846d473a473d"> 123</a></span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a8b27f28985357281b5d8f79098417645">getDimension</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a7cfc88ad641d95adbc20c7b6c6b4151d">getDimension</a>();</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a65d2a071d311bac9d7d49d6aef588d83"> 127</a></span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a61ecd2538eed20d28f774a79a7772a12">getMaximumExtent</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#af7a72168397b61ee33c0f2bf98ced2e5">getMaximumExtent</a>();</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7c1b728f95012569f6c17d5c42938b9c"> 131</a></span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ade728fe09b47386501372cdd5f328686">getMeasure</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a5dd95b39e49cf6a251ce650cbf35c399">getMeasure</a>();</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  }</div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1b0fabc3ed4329c4590e593417259444"> 135</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a725106f84591e29735f341cfb36d24f1">enforceBounds</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a7a52d4000174091df038c603078add78">enforceBounds</a>(state);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ad56d8e70348f91ec8643ae4d0e223a0a"> 139</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a532c7fd393865375759b7d76093b8619">satisfiesBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a07deb46127836f5795a8c0ceca1a1209">satisfiesBounds</a>(state);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aab96c1376f04dcdedc57091802bbab9c"> 143</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a837159a2ce8dc638293172f9f01e6760">copyState</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *source)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#abff3478c3fc4da03c94d6f929f6ca7f9">copyState</a>(destination, source);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aff87df59be6dbf252196918875cbb3d2"> 147</a></span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a25ab585c84364488f6ea5d87772f2385">distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state2)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#acb781becdcdf8770d61c218632c71bd5">distance</a>(state1, state2);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1e73c8bf8c6555bfd14e5eb6976a1fd9"> 151</a></span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ace15b6fb4c5311bf5d4d992e84b69c87">getSerializationLength</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#aae75da59014845fbfe63dd369451278c">getSerializationLength</a>();</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a8b27f28985357281b5d8f79098417645"> 155</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a70bacc322ae37e30e7cd47f3c67f987e">serialize</a>(<span class="keywordtype">void</span> *serialization, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#ac61d8940e9fffe481781aedc6c8adf52">serialize</a>(serialization, state);</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  }</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a61ecd2538eed20d28f774a79a7772a12"> 159</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a3dfb704e145ae3731cf4d306460af8cb">deserialize</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, <span class="keyword">const</span> <span class="keywordtype">void</span> *serialization)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#af4dfc734812424a2159b14c9f8e3d92b">deserialize</a>(state, serialization);</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ade728fe09b47386501372cdd5f328686"> 163</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a970fccf69837bbf04114d76fcf1a5332">equalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state2)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a6babf3addb5ed9608800b7460a20da39">equalStates</a>(state1, state2);</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a725106f84591e29735f341cfb36d24f1"> 167</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a9fbde10c7df8cfda58873d1dff167e1c">interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *to, <span class="keyword">const</span> <span class="keywordtype">double</span> t, <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#ae64df33ebaaddb1cd64c555be90d099d">interpolate</a>(from, to, t, state);</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  }</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a532c7fd393865375759b7d76093b8619"> 171</a></span>  <a class="code" href="classompl_1_1base_1_1State.html">State</a> *<a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a04ab8f8d355af47ab5f5ae0dcc94609e">allocState</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#ae86d2a2401044774fa4de3345a29d408">allocState</a>();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a837159a2ce8dc638293172f9f01e6760"> 175</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ac73e02fee9bdc9a31e557a7fe6f41e52">freeState</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#aeb75db7a7ef3d05f13632b7ccc67e6b9">freeState</a>(state);</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a25ab585c84364488f6ea5d87772f2385"> 179</a></span>  <span class="keywordtype">double</span> *<a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a4171ed1f5a8f2e963c46c8fde0dddd7f">getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a3b4b4123fa98346459f434e92aad3b8f">getValueAddressAtIndex</a>(state, index);</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ace15b6fb4c5311bf5d4d992e84b69c87"> 183</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a9ace658f90522c42a7a0833a6240a750">registerProjections</a>()<span class="keyword"> override</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a9d83398ca1647e06036d9e69ebad7cf8">registerProjections</a>();</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  }</div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a70bacc322ae37e30e7cd47f3c67f987e"> 187</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#afbe345d317b8e20a159b76195526af5a">printState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, std::ostream &out)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a1f75d03a8b948abc11b5c29239868e4d">printState</a>(state, out);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  }</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a3dfb704e145ae3731cf4d306460af8cb"> 191</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a5a11dda3eb68ca6215eae8ad284d9328">printSettings</a>(std::ostream &out)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#abb4150d3a12920c543cc6da78fe872e8">printSettings</a>(out);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a970fccf69837bbf04114d76fcf1a5332"> 195</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1a2cf91a1fb4bbadbe46e487455136d7">printProjections</a>(std::ostream &out)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a38635f6a0b6498e0c2026c260f126a3d">printProjections</a>(out);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  }</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a9fbde10c7df8cfda58873d1dff167e1c"> 199</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a329333bad66566fab35b1b58b5f2bed9">sanityChecks</a>(<span class="keywordtype">double</span> zero, <span class="keywordtype">double</span> eps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> flags)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a105bac649945b8de692a4d4ad3892860">sanityChecks</a>(zero, eps, flags);</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  }</div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a04ab8f8d355af47ab5f5ae0dcc94609e"> 203</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a329333bad66566fab35b1b58b5f2bed9">sanityChecks</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a105bac649945b8de692a4d4ad3892860">sanityChecks</a>();</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  }</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ac73e02fee9bdc9a31e557a7fe6f41e52"> 207</a></span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ae040edd46e01c41459a985d7e2368e33">allocSubspaceStateSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> *subspace)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a866a3c84c923ac0f8766113e3122d51b">allocSubspaceStateSampler</a>(subspace);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a4171ed1f5a8f2e963c46c8fde0dddd7f"> 211</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aff532684aa596f45ff875383db82b242">computeLocations</a>()<span class="keyword"> override</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a1866860e11fb0eb759453df70ba68ae2">computeLocations</a>();</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  }</div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a9ace658f90522c42a7a0833a6240a750"> 215</a></span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html">geometric::CForest</a> *cforest_;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <a class="code" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> *space_;</div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#afbe345d317b8e20a159b76195526af5a"> 219</a></span>  <a class="code" href="classompl_1_1base_1_1Planner.html">Planner</a> *planner_;</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  };</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> }</div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a5a11dda3eb68ca6215eae8ad284d9328"> 223</a></span>  </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_aeb75db7a7ef3d05f13632b7ccc67e6b9"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#aeb75db7a7ef3d05f13632b7ccc67e6b9">ompl::base::StateSpace::freeState</a></div><div class="ttdeci">virtual void freeState(State *state) const =0</div><div class="ttdoc">Free the memory of the allocated state.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a65d2a071d311bac9d7d49d6aef588d83"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a65d2a071d311bac9d7d49d6aef588d83">ompl::base::CForestStateSpaceWrapper::isHybrid</a></div><div class="ttdeci">bool isHybrid() const override</div><div class="ttdoc">Check if this is a hybrid state space (i.e., both discrete and continuous components exist)</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00127">CForestStateSpaceWrapper.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_afbe345d317b8e20a159b76195526af5a"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#afbe345d317b8e20a159b76195526af5a">ompl::base::CForestStateSpaceWrapper::printState</a></div><div class="ttdeci">void printState(const State *state, std::ostream &out) const override</div><div class="ttdoc">Print a state to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00219">CForestStateSpaceWrapper.h:219</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_aae75da59014845fbfe63dd369451278c"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#aae75da59014845fbfe63dd369451278c">ompl::base::StateSpace::getSerializationLength</a></div><div class="ttdeci">virtual unsigned int getSerializationLength() const</div><div class="ttdoc">Get the number of chars in the serialization of a state in this space.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00375">StateSpace.cpp:375</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a2415182e4c4409dd70a773a4481429b7"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a2415182e4c4409dd70a773a4481429b7">ompl::base::StateSpace::getLongestValidSegmentFraction</a></div><div class="ttdeci">virtual double getLongestValidSegmentFraction() const</div><div class="ttdoc">When performing discrete validation of motions, the length of the longest segment that does not requi...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00841">StateSpace.cpp:841</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html">ompl::base::StateSpace</a></div><div class="ttdoc">Representation of a space in which planning can be performed. Topology specific sampling,...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8h_source.html#l00134">StateSpace.h:134</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a7189dd4f4d8a1be09e3e18cb9b53a647"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7189dd4f4d8a1be09e3e18cb9b53a647">ompl::base::CForestStateSpaceWrapper::allocDefaultStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocDefaultStateSampler() const override</div><div class="ttdoc">Allocate an instance of the default uniform state sampler for this space.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8cpp_source.html#l00040">CForestStateSpaceWrapper.cpp:40</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a1a2cf91a1fb4bbadbe46e487455136d7"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1a2cf91a1fb4bbadbe46e487455136d7">ompl::base::CForestStateSpaceWrapper::printProjections</a></div><div class="ttdeci">void printProjections(std::ostream &out) const override</div><div class="ttdoc">Print the list of registered projections. This function is also called by printSettings()</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00227">CForestStateSpaceWrapper.h:227</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_af4dfc734812424a2159b14c9f8e3d92b"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#af4dfc734812424a2159b14c9f8e3d92b">ompl::base::StateSpace::deserialize</a></div><div class="ttdeci">virtual void deserialize(State *state, const void *serialization) const</div><div class="ttdoc">Read the binary representation of a state from serialization and write it to state.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00384">StateSpace.cpp:384</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_ae64df33ebaaddb1cd64c555be90d099d"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#ae64df33ebaaddb1cd64c555be90d099d">ompl::base::StateSpace::interpolate</a></div><div class="ttdeci">virtual void interpolate(const State *from, const State *to, double t, State *state) const =0</div><div class="ttdoc">Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a1b0fabc3ed4329c4590e593417259444"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1b0fabc3ed4329c4590e593417259444">ompl::base::CForestStateSpaceWrapper::hasSymmetricDistance</a></div><div class="ttdeci">bool hasSymmetricDistance() const override</div><div class="ttdoc">Check if the distance function on this state space is symmetric, i.e. distance(s1,...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00135">CForestStateSpaceWrapper.h:135</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_ade728fe09b47386501372cdd5f328686"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ade728fe09b47386501372cdd5f328686">ompl::base::CForestStateSpaceWrapper::getMeasure</a></div><div class="ttdeci">double getMeasure() const override</div><div class="ttdoc">Get a measure of the space (this can be thought of as a generalization of volume)</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00163">CForestStateSpaceWrapper.h:163</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_abff3478c3fc4da03c94d6f929f6ca7f9"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#abff3478c3fc4da03c94d6f929f6ca7f9">ompl::base::StateSpace::copyState</a></div><div class="ttdeci">virtual void copyState(State *destination, const State *source) const =0</div><div class="ttdoc">Copy a state to another. The memory of source and destination should NOT overlap.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a7a52d4000174091df038c603078add78"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a7a52d4000174091df038c603078add78">ompl::base::StateSpace::enforceBounds</a></div><div class="ttdeci">virtual void enforceBounds(State *state) const =0</div><div class="ttdoc">Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_ace15b6fb4c5311bf5d4d992e84b69c87"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ace15b6fb4c5311bf5d4d992e84b69c87">ompl::base::CForestStateSpaceWrapper::getSerializationLength</a></div><div class="ttdeci">unsigned int getSerializationLength() const override</div><div class="ttdoc">Get the number of chars in the serialization of a state in this space.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00183">CForestStateSpaceWrapper.h:183</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a3dfb704e145ae3731cf4d306460af8cb"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a3dfb704e145ae3731cf4d306460af8cb">ompl::base::CForestStateSpaceWrapper::deserialize</a></div><div class="ttdeci">void deserialize(State *state, const void *serialization) const override</div><div class="ttdoc">Read the binary representation of a state from serialization and write it to state.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00191">CForestStateSpaceWrapper.h:191</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a9561271be70c7a437d793316d40d1b8b"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a9561271be70c7a437d793316d40d1b8b">ompl::base::StateSpace::isHybrid</a></div><div class="ttdeci">virtual bool isHybrid() const</div><div class="ttdoc">Check if this is a hybrid state space (i.e., both discrete and continuous components exist)</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00775">StateSpace.cpp:775</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a8b27f28985357281b5d8f79098417645"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a8b27f28985357281b5d8f79098417645">ompl::base::CForestStateSpaceWrapper::getDimension</a></div><div class="ttdeci">unsigned int getDimension() const override</div><div class="ttdoc">Get the dimension of the space (not the dimension of the surrounding ambient space)</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00155">CForestStateSpaceWrapper.h:155</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a86776683449978dedfe3213f57637cba"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a86776683449978dedfe3213f57637cba">ompl::base::StateSpace::isMetricSpace</a></div><div class="ttdeci">virtual bool isMetricSpace() const</div><div class="ttdoc">Return true if the distance function associated with the space is a metric.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8h_source.html#l00247">StateSpace.h:247</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_ae040edd46e01c41459a985d7e2368e33"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ae040edd46e01c41459a985d7e2368e33">ompl::base::CForestStateSpaceWrapper::allocSubspaceStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override</div><div class="ttdoc">Allocate a sampler that actually samples only components that are part of subspace.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00239">CForestStateSpaceWrapper.h:239</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a7cfc88ad641d95adbc20c7b6c6b4151d"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a7cfc88ad641d95adbc20c7b6c6b4151d">ompl::base::StateSpace::getDimension</a></div><div class="ttdeci">virtual unsigned int getDimension() const =0</div><div class="ttdoc">Get the dimension of the space (not the dimension of the surrounding ambient space)</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a866a3c84c923ac0f8766113e3122d51b"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a866a3c84c923ac0f8766113e3122d51b">ompl::base::StateSpace::allocSubspaceStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocSubspaceStateSampler(const StateSpacePtr &subspace) const</div><div class="ttdoc">Allocate a sampler that actually samples only components that are part of subspace.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00808">StateSpace.cpp:808</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a970fccf69837bbf04114d76fcf1a5332"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a970fccf69837bbf04114d76fcf1a5332">ompl::base::CForestStateSpaceWrapper::equalStates</a></div><div class="ttdeci">bool equalStates(const State *state1, const State *state2) const override</div><div class="ttdoc">Checks whether two states are equal.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00195">CForestStateSpaceWrapper.h:195</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_ac73e02fee9bdc9a31e557a7fe6f41e52"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ac73e02fee9bdc9a31e557a7fe6f41e52">ompl::base::CForestStateSpaceWrapper::freeState</a></div><div class="ttdeci">void freeState(State *state) const override</div><div class="ttdoc">Free the memory of the allocated state.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00207">CForestStateSpaceWrapper.h:207</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a5a11dda3eb68ca6215eae8ad284d9328"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a5a11dda3eb68ca6215eae8ad284d9328">ompl::base::CForestStateSpaceWrapper::printSettings</a></div><div class="ttdeci">void printSettings(std::ostream &out) const override</div><div class="ttdoc">Print the settings for this state space to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00223">CForestStateSpaceWrapper.h:223</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a8b53e2150c387718a91046af20817724"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a8b53e2150c387718a91046af20817724">ompl::base::StateSpace::isDiscrete</a></div><div class="ttdeci">virtual bool isDiscrete() const</div><div class="ttdoc">Check if the set of states is discrete.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00770">StateSpace.cpp:770</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a9d83398ca1647e06036d9e69ebad7cf8"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a9d83398ca1647e06036d9e69ebad7cf8">ompl::base::StateSpace::registerProjections</a></div><div class="ttdeci">virtual void registerProjections()</div><div class="ttdoc">Register the projections for this state space. Usually, this is at least the default projection....</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00233">StateSpace.cpp:233</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_aff87df59be6dbf252196918875cbb3d2"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aff87df59be6dbf252196918875cbb3d2">ompl::base::CForestStateSpaceWrapper::setLongestValidSegmentFraction</a></div><div class="ttdeci">void setLongestValidSegmentFraction(double segmentFraction) override</div><div class="ttdoc">When performing discrete validation of motions, the length of the longest segment that does not requi...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00147">CForestStateSpaceWrapper.h:147</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_ad8e6450ad306d272df39751aa7e690b8"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#ad8e6450ad306d272df39751aa7e690b8">ompl::base::StateSpace::setLongestValidSegmentFraction</a></div><div class="ttdeci">virtual void setLongestValidSegmentFraction(double segmentFraction)</div><div class="ttdoc">When performing discrete validation of motions, the length of the longest segment that does not requi...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00828">StateSpace.cpp:828</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a7c1b728f95012569f6c17d5c42938b9c"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7c1b728f95012569f6c17d5c42938b9c">ompl::base::CForestStateSpaceWrapper::isMetricSpace</a></div><div class="ttdeci">bool isMetricSpace() const override</div><div class="ttdoc">Return true if the distance function associated with the space is a metric.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00131">CForestStateSpaceWrapper.h:131</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_aac34c7ac165f60b6821a846d473a473d"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aac34c7ac165f60b6821a846d473a473d">ompl::base::CForestStateSpaceWrapper::isDiscrete</a></div><div class="ttdeci">bool isDiscrete() const override</div><div class="ttdoc">Check if the set of states is discrete.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00123">CForestStateSpaceWrapper.h:123</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_aa36dfbc0119ab4514dda12806a2c75ab"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aa36dfbc0119ab4514dda12806a2c75ab">ompl::base::CForestStateSpaceWrapper::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="CForestStateSpaceWrapper_8cpp_source.html#l00054">CForestStateSpaceWrapper.cpp:54</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a66be13e51b2ab78a34db525432396302"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a66be13e51b2ab78a34db525432396302">ompl::base::CForestStateSpaceWrapper::allocStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocStateSampler() const override</div><div class="ttdoc">Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8cpp_source.html#l00047">CForestStateSpaceWrapper.cpp:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_abb4150d3a12920c543cc6da78fe872e8"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#abb4150d3a12920c543cc6da78fe872e8">ompl::base::StateSpace::printSettings</a></div><div class="ttdeci">virtual void printSettings(std::ostream &out) const</div><div class="ttdoc">Print the settings for this state space to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00393">StateSpace.cpp:393</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a105bac649945b8de692a4d4ad3892860"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a105bac649945b8de692a4d4ad3892860">ompl::base::StateSpace::sanityChecks</a></div><div class="ttdeci">virtual void sanityChecks(double zero, double eps, unsigned int flags) const</div><div class="ttdoc">Perform sanity checks for this state space. Throws an exception if failures are found.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00609">StateSpace.cpp:609</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html">ompl::geometric::CForest</a></div><div class="ttdoc">Coupled Forest of Random Engrafting Search Trees.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00139">CForest.h:139</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a04ab8f8d355af47ab5f5ae0dcc94609e"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a04ab8f8d355af47ab5f5ae0dcc94609e">ompl::base::CForestStateSpaceWrapper::allocState</a></div><div class="ttdeci">State * allocState() const override</div><div class="ttdoc">Allocate a state that can store a point in the described space.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00203">CForestStateSpaceWrapper.h:203</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a1866860e11fb0eb759453df70ba68ae2"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a1866860e11fb0eb759453df70ba68ae2">ompl::base::StateSpace::computeLocations</a></div><div class="ttdeci">virtual void computeLocations()</div><div class="ttdoc">Compute the location information for various components of the state space. Either this function or s...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00214">StateSpace.cpp:214</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a1e73c8bf8c6555bfd14e5eb6976a1fd9"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a1e73c8bf8c6555bfd14e5eb6976a1fd9">ompl::base::CForestStateSpaceWrapper::validSegmentCount</a></div><div class="ttdeci">unsigned int validSegmentCount(const State *state1, const State *state2) const override</div><div class="ttdoc">Count how many segments of the "longest valid length" fit on the motion from state1 to state2.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00151">CForestStateSpaceWrapper.h:151</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a25ab585c84364488f6ea5d87772f2385"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a25ab585c84364488f6ea5d87772f2385">ompl::base::CForestStateSpaceWrapper::distance</a></div><div class="ttdeci">double distance(const State *state1, const State *state2) const override</div><div class="ttdoc">Computes distance between two states. This function satisfies the properties of a metric if isMetricS...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00179">CForestStateSpaceWrapper.h:179</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_aab96c1376f04dcdedc57091802bbab9c"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aab96c1376f04dcdedc57091802bbab9c">ompl::base::CForestStateSpaceWrapper::getLongestValidSegmentFraction</a></div><div class="ttdeci">double getLongestValidSegmentFraction() const override</div><div class="ttdoc">When performing discrete validation of motions, the length of the longest segment that does not requi...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00143">CForestStateSpaceWrapper.h:143</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_ad12cc022ef531dcb563f6d3d13b847ad"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad">ompl::base::StateSpace::setName</a></div><div class="ttdeci">void setName(const std::string &name)</div><div class="ttdoc">Set the name of the state space.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00201">StateSpace.cpp:201</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a329333bad66566fab35b1b58b5f2bed9"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a329333bad66566fab35b1b58b5f2bed9">ompl::base::CForestStateSpaceWrapper::sanityChecks</a></div><div class="ttdeci">void sanityChecks() const override</div><div class="ttdoc">Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00235">CForestStateSpaceWrapper.h:235</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a725106f84591e29735f341cfb36d24f1"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a725106f84591e29735f341cfb36d24f1">ompl::base::CForestStateSpaceWrapper::enforceBounds</a></div><div class="ttdeci">void enforceBounds(State *state) const override</div><div class="ttdoc">Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00167">CForestStateSpaceWrapper.h:167</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a837159a2ce8dc638293172f9f01e6760"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a837159a2ce8dc638293172f9f01e6760">ompl::base::CForestStateSpaceWrapper::copyState</a></div><div class="ttdeci">void copyState(State *destination, const State *source) const override</div><div class="ttdoc">Copy a state to another. The memory of source and destination should NOT overlap.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00175">CForestStateSpaceWrapper.h:175</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a776ecd4d7ba042f549e4fb18c4755558"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a776ecd4d7ba042f549e4fb18c4755558">ompl::base::StateSpace::isCompound</a></div><div class="ttdeci">virtual bool isCompound() const</div><div class="ttdoc">Check if the state space is compound.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00765">StateSpace.cpp:765</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a61ecd2538eed20d28f774a79a7772a12"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a61ecd2538eed20d28f774a79a7772a12">ompl::base::CForestStateSpaceWrapper::getMaximumExtent</a></div><div class="ttdeci">double getMaximumExtent() const override</div><div class="ttdoc">Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00159">CForestStateSpaceWrapper.h:159</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a532c7fd393865375759b7d76093b8619"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a532c7fd393865375759b7d76093b8619">ompl::base::CForestStateSpaceWrapper::satisfiesBounds</a></div><div class="ttdeci">bool satisfiesBounds(const State *state) const override</div><div class="ttdoc">Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00171">CForestStateSpaceWrapper.h:171</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a07deb46127836f5795a8c0ceca1a1209"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a07deb46127836f5795a8c0ceca1a1209">ompl::base::StateSpace::satisfiesBounds</a></div><div class="ttdeci">virtual bool satisfiesBounds(const State *state) const =0</div><div class="ttdoc">Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a70bacc322ae37e30e7cd47f3c67f987e"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a70bacc322ae37e30e7cd47f3c67f987e">ompl::base::CForestStateSpaceWrapper::serialize</a></div><div class="ttdeci">void serialize(void *serialization, const State *state) const override</div><div class="ttdoc">Write the binary representation of state to serialization.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00187">CForestStateSpaceWrapper.h:187</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a4171ed1f5a8f2e963c46c8fde0dddd7f"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a4171ed1f5a8f2e963c46c8fde0dddd7f">ompl::base::CForestStateSpaceWrapper::getValueAddressAtIndex</a></div><div class="ttdeci">double * getValueAddressAtIndex(State *state, const unsigned int index) const override</div><div class="ttdoc">Many states contain a number of double values. This function provides a means to get the memory addre...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00211">CForestStateSpaceWrapper.h:211</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_af7a72168397b61ee33c0f2bf98ced2e5"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#af7a72168397b61ee33c0f2bf98ced2e5">ompl::base::StateSpace::getMaximumExtent</a></div><div class="ttdeci">virtual double getMaximumExtent() const =0</div><div class="ttdoc">Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_aff532684aa596f45ff875383db82b242"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aff532684aa596f45ff875383db82b242">ompl::base::CForestStateSpaceWrapper::computeLocations</a></div><div class="ttdeci">void computeLocations() override</div><div class="ttdoc">Compute the location information for various components of the state space. Either this function or s...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00243">CForestStateSpaceWrapper.h:243</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a6babf3addb5ed9608800b7460a20da39"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a6babf3addb5ed9608800b7460a20da39">ompl::base::StateSpace::equalStates</a></div><div class="ttdeci">virtual bool equalStates(const State *state1, const State *state2) const =0</div><div class="ttdoc">Checks whether two states are equal.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_ad56d8e70348f91ec8643ae4d0e223a0a"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#ad56d8e70348f91ec8643ae4d0e223a0a">ompl::base::CForestStateSpaceWrapper::hasSymmetricInterpolate</a></div><div class="ttdeci">bool hasSymmetricInterpolate() const override</div><div class="ttdoc">Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00139">CForestStateSpaceWrapper.h:139</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a3b4b4123fa98346459f434e92aad3b8f"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a3b4b4123fa98346459f434e92aad3b8f">ompl::base::StateSpace::getValueAddressAtIndex</a></div><div class="ttdeci">virtual double * getValueAddressAtIndex(State *state, unsigned int index) const</div><div class="ttdoc">Many states contain a number of double values. This function provides a means to get the memory addre...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00306">StateSpace.cpp:306</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a5dd95b39e49cf6a251ce650cbf35c399"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a5dd95b39e49cf6a251ce650cbf35c399">ompl::base::StateSpace::getMeasure</a></div><div class="ttdeci">virtual double getMeasure() const =0</div><div class="ttdoc">Get a measure of the space (this can be thought of as a generalization of volume)</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a9fbde10c7df8cfda58873d1dff167e1c"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a9fbde10c7df8cfda58873d1dff167e1c">ompl::base::CForestStateSpaceWrapper::interpolate</a></div><div class="ttdeci">void interpolate(const State *from, const State *to, const double t, State *state) const override</div><div class="ttdoc">Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00199">CForestStateSpaceWrapper.h:199</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a117467017c37377ed1a59056a8082a1b"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a117467017c37377ed1a59056a8082a1b">ompl::base::StateSpace::hasSymmetricDistance</a></div><div class="ttdeci">virtual bool hasSymmetricDistance() const</div><div class="ttdoc">Check if the distance function on this state space is symmetric, i.e. distance(s1,...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00780">StateSpace.cpp:780</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_ae86d2a2401044774fa4de3345a29d408"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#ae86d2a2401044774fa4de3345a29d408">ompl::base::StateSpace::allocState</a></div><div class="ttdeci">virtual State * allocState() const =0</div><div class="ttdoc">Allocate a state that can store a point in the described space.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSampler.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a38635f6a0b6498e0c2026c260f126a3d"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a38635f6a0b6498e0c2026c260f126a3d">ompl::base::StateSpace::printProjections</a></div><div class="ttdeci">virtual void printProjections(std::ostream &out) const</div><div class="ttdoc">Print the list of registered projections. This function is also called by printSettings()</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00399">StateSpace.cpp:399</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_acb781becdcdf8770d61c218632c71bd5"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#acb781becdcdf8770d61c218632c71bd5">ompl::base::StateSpace::distance</a></div><div class="ttdeci">virtual double distance(const State *state1, const State *state2) const =0</div><div class="ttdoc">Computes distance between two states. This function satisfies the properties of a metric if isMetricS...</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a0a9a294715dbdd51c9014d8580ae6706"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a0a9a294715dbdd51c9014d8580ae6706">ompl::base::StateSpace::hasSymmetricInterpolate</a></div><div class="ttdeci">virtual bool hasSymmetricInterpolate() const</div><div class="ttdoc">Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00785">StateSpace.cpp:785</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a44d83288d6636eb134b3335bb1c57fcf"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a44d83288d6636eb134b3335bb1c57fcf">ompl::base::StateSpace::validSegmentCount</a></div><div class="ttdeci">virtual unsigned int validSegmentCount(const State *state1, const State *state2) const</div><div class="ttdoc">Count how many segments of the "longest valid length" fit on the motion from state1 to state2.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00851">StateSpace.cpp:851</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_ac61d8940e9fffe481781aedc6c8adf52"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#ac61d8940e9fffe481781aedc6c8adf52">ompl::base::StateSpace::serialize</a></div><div class="ttdeci">virtual void serialize(void *serialization, const State *state) const</div><div class="ttdoc">Write the binary representation of state to serialization.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00380">StateSpace.cpp:380</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a9ace658f90522c42a7a0833a6240a750"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a9ace658f90522c42a7a0833a6240a750">ompl::base::CForestStateSpaceWrapper::registerProjections</a></div><div class="ttdeci">void registerProjections() override</div><div class="ttdoc">Register the projections for this state space. Usually, this is at least the default projection....</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00215">CForestStateSpaceWrapper.h:215</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a714756532091ab256b3d6f036e322c81"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a714756532091ab256b3d6f036e322c81">ompl::base::CForestStateSpaceWrapper::isCompound</a></div><div class="ttdeci">bool isCompound() const override</div><div class="ttdoc">Check if the state space is compound.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8h_source.html#l00119">CForestStateSpaceWrapper.h:119</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_1base_1_1StateSpace_html_a1f75d03a8b948abc11b5c29239868e4d"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a1f75d03a8b948abc11b5c29239868e4d">ompl::base::StateSpace::printState</a></div><div class="ttdeci">virtual void printState(const State *state, std::ostream &out=std::cout) const</div><div class="ttdoc">Print a state to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00388">StateSpace.cpp:388</a></div></div>
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