37 #ifndef OMPL_CONTROL_CONTROL_SPACE_
38 #define OMPL_CONTROL_CONTROL_SPACE_
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/control/ControlSampler.h"
43 #include "ompl/control/ControlSpaceTypes.h"
45 #include "ompl/util/ClassForward.h"
46 #include <boost/concept_check.hpp>
47 #include <boost/noncopyable.hpp>
59 OMPL_CLASS_FORWARD(ControlSpace);
80 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, ControlSpace*>));
82 return static_cast<T*
>(
this);
87 const T*
as(
void)
const
90 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, ControlSpace*>));
92 return static_cast<const T*
>(
this);
96 const std::string&
getName(
void)
const;
99 void setName(
const std::string &name);
160 virtual void setup(
void);
214 T*
as(
const unsigned int index)
const
217 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, ControlSpace*>));
254 virtual void setup(
void);