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# API Overview
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<text transform="matrix(1 0 0 1 244.7773 477)" fill="#FFFFFF" font-family="'Helvetica-Bold'" font-size="14">User code</text>
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<a xlink:href="classompl_1_1base_1_1StateSpace.html" >
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<path fill="#7992A2" stroke="#645D61" stroke-miterlimit="10" d="M540,97c0,11.045-8.507,20-19,20H388c-10.494,0-19-8.955-19-20
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<text transform="matrix(1 0 0 1 423.3164 44.2939)"><tspan x="0" y="0" fill="#FFFFFF" font-family="'Helvetica-Bold'" font-size="12">StateSpace</tspan><tspan x="-33.799" y="12" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">Represents the state space in </tspan><tspan x="-31.295" y="24" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">which planning is performed; </tspan><tspan x="-31.844" y="36" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">implements topology-specific </tspan><tspan x="-32.686" y="48" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">functions: distance, interpola- </tspan><tspan x="-22.125" y="60" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">tion, state (de)allocation.</tspan></text>
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<a xlink:href="classompl_1_1base_1_1StateSampler.html" >
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<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="1.997,1.997" d="M720,76c0,7.732-7.612,14-17,14
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<text transform="matrix(1 0 0 1 605.1504 43.9365)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">StateSampler</tspan><tspan x="-15.285" y="12" font-family="'Helvetica'" font-size="10">Implements uniform and </tspan><tspan x="-24.461" y="24" font-family="'Helvetica'" font-size="10">Gaussian sampling of states </tspan><tspan x="-18.348" y="36" font-family="'Helvetica'" font-size="10">for a specific StateSpace.</tspan></text>
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<a xlink:href="classompl_1_1base_1_1ProjectionEvaluator.html" >
<g>
<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="2.008,2.008" d="M720,164c0,8.836-7.612,16-17,16
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<text transform="matrix(1 0 0 1 586.8193 123.1279)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">ProjectionEvaluator</tspan><tspan x="-3.065" y="12" font-family="'Helvetica'" font-size="10">Computes projections from </tspan><tspan x="0.821" y="24" font-family="'Helvetica'" font-size="10">states of a specific State- </tspan><tspan x="-4.464" y="36" font-family="'Helvetica'" font-size="10">Space to a low-dimensional </tspan><tspan x="18.6" y="48" font-family="'Helvetica'" font-size="10">Euclidean space.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1Path.html" >
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<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="2.008,2.008" d="M720,326c0,8.836-7.612,16-17,16
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<text transform="matrix(1 0 0 1 629.998 288.8721)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">Path</tspan><tspan x="-43.148" y="12" font-family="'Helvetica'" font-size="10">Representation of a path; </tspan><tspan x="-48.705" y="24" font-family="'Helvetica'" font-size="10">used to represent a solution </tspan><tspan x="-36.476" y="36" font-family="'Helvetica'" font-size="10">to a planning problem.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1Goal.html" >
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<text transform="matrix(1 0 0 1 631.6641 385.6924)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">Goal</tspan><tspan x="-20.575" y="12" font-family="'Helvetica'" font-size="10">Representation </tspan><tspan x="-7.235" y="24" font-family="'Helvetica'" font-size="10">of a goal.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1StateValidityChecker.html" >
<g>
<path fill="#7992A2" stroke="#645D61" stroke-miterlimit="10" d="M540.071,257c0,8.837-8.059,16-18,16h-126
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<text transform="matrix(1 0 0 1 399.3076 219.7622)"><tspan x="0" y="0" fill="#FFFFFF" font-family="'Helvetica-Bold'" font-size="12">StateValidityChecker</tspan><tspan x="-7.29" y="12" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">Decides whether a given state </tspan><tspan x="-4.78" y="24" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">from a specific StateSpace is </tspan><tspan x="48.02" y="36" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">valid.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1SpaceInformation.html" >
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<text transform="matrix(1 0 0 1 228.3247 215.7949)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">SpaceInformation</tspan><tspan x="-19.359" y="12" font-family="'Helvetica'" font-size="10">Provides routines typically used </tspan><tspan x="-15.749" y="24" font-family="'Helvetica'" font-size="10">by motion planners; combines </tspan><tspan x="-11.579" y="36" font-family="'Helvetica'" font-size="10">the functionality of classes it </tspan><tspan x="23.15" y="48" font-family="'Helvetica'" font-size="10">depends on.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1MotionValidator.html" >
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<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="2.008,2.008" d="M171,257c0,8.836-7.612,16-17,16
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<text transform="matrix(1 0 0 1 48.3618 216.1904)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">MotionValidator</tspan><tspan x="-16.644" y="12" font-family="'Helvetica'" font-size="10">Provides the ability to check </tspan><tspan x="-18.038" y="24" font-family="'Helvetica'" font-size="10">the validity of path segments </tspan><tspan x="-3.592" y="36" font-family="'Helvetica'" font-size="10">using the interpolation </tspan><tspan x="-17.488" y="48" font-family="'Helvetica'" font-size="10">provided by the StateSpace.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1ValidStateSampler.html" >
<g>
<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="2.009,2.009" d="M171,324c0,6.627-7.612,12-17,12
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<text transform="matrix(1 0 0 1 41.813 299.7949)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">ValidStateSampler</tspan><tspan x="-12.344" y="12" font-family="'Helvetica'" font-size="10">Provides the ability to sample </tspan><tspan x="26.286" y="24" font-family="'Helvetica'" font-size="10">valid states.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1Planner.html" >
<g>
<path fill="#9ABFD5" stroke="#645D61" stroke-miterlimit="10" stroke-dasharray="7.908,3.954" d="M162,411c0,6.628-6.717,12-15,12
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<text transform="matrix(1 0 0 1 71.6855 386.3594)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">Planner</tspan><tspan x="-13.566" y="12" font-family="'Helvetica'" font-size="10">Solves a motion </tspan><tspan x="-17.741" y="24" font-family="'Helvetica'" font-size="10">planning problem.</tspan></text>
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</a>
<a xlink:href="classompl_1_1geometric_1_1SimpleSetup.html" >
<g>
<path fill="#7992A2" stroke="#645D61" stroke-width="2" stroke-miterlimit="10" d="M360,403c0,11.046-8.059,20-18,20H216
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<text transform="matrix(1 0 0 1 236.603 352.0674)"><tspan x="0" y="0" fill="#FFFFFF" font-family="'Helvetica-Bold'" font-size="14">SimpleSetup</tspan><tspan x="-17.293" y="14.399" fill="#FFFFFF" font-family="'Helvetica'" font-size="12">Provides a simple way </tspan><tspan x="-19.651" y="28.8" fill="#FFFFFF" font-family="'Helvetica'" font-size="12">of setting up all needed </tspan><tspan x="-18.626" y="43.199" fill="#FFFFFF" font-family="'Helvetica'" font-size="12">classes without limiting</tspan><tspan x="9.045" y="57.6" fill="#FFFFFF" font-family="'Helvetica'" font-size="12">functionality.</tspan></text>
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</a>
<a xlink:href="classompl_1_1base_1_1ProblemDefinition.html" >
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<text transform="matrix(1 0 0 1 407.4023 366.6279)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">ProblemDefinition</tspan><tspan x="-10.871" y="12" font-family="'Helvetica'" font-size="10">Specifies the instance of the </tspan><tspan x="-7.533" y="24" font-family="'Helvetica'" font-size="10">planning problem; requires </tspan><tspan x="-13.648" y="36" font-family="'Helvetica'" font-size="10">definition of start states and a </tspan><tspan x="40.826" y="48" font-family="'Helvetica'" font-size="10">goal.</tspan></text>
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</a>
<g>
<rect x="396" y="450" fill="#F1F2F2" width="322" height="78.334"/>
<path fill="#7992A2" stroke="#645D61" stroke-width="2" stroke-miterlimit="10" d="M433,462.439c0-1.131-0.896-2.049-2-2.049h-14
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<path fill="#98BFD5" stroke="#645D61" stroke-miterlimit="10" stroke-dasharray="7.908,3.954" d="M433,485c0,1.104-0.896,2-2,2h-14
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<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="2.009,2.009" d="M433,501c0,1.104-0.896,2-2,2h-14
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<text transform="matrix(1 0 0 1 401 518)" font-family="'Helvetica-Oblique'" font-size="10">A</text>
<text transform="matrix(1 0 0 1 427 518)" font-family="'Helvetica-Oblique'" font-size="10">B</text>
<text transform="matrix(1 0 0 1 442.001 469)"><tspan x="0" y="0" font-family="'Helvetica'" font-size="10">User must instantiate this class.</tspan><tspan x="0" y="17" font-family="'Helvetica'" font-size="10">User must instantiate this class unless SimpleSetup is used.</tspan><tspan x="0" y="34" font-family="'Helvetica'" font-size="10">User can instantiate this class, but defaults are provided.</tspan></text>
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<polygon points="427,514 417.051,518.065 419.412,514 417.051,509.936 "/>
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</g>
</g>
<g>
<line fill="none" stroke="#000000" stroke-miterlimit="10" x1="576" y1="396" x2="547.132" y2="396"/>
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<polygon points="540.071,396 550.021,391.935 547.66,396 550.021,400.064 "/>
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<g>
<line fill="none" stroke="#000000" stroke-miterlimit="10" x1="378" y1="396.064" x2="367.132" y2="396.064"/>
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<polygon points="360.071,396.064 370.021,391.999 367.66,396.064 370.021,400.129 "/>
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<g>
<rect x="9" y="18" fill="#F2F2F2" stroke="#645D61" stroke-miterlimit="10" stroke-dasharray="4,4" width="347.006" height="169"/>
<text transform="matrix(1 0 0 1 9.1162 14)" fill="#645D61" font-family="'Helvetica-Oblique'" font-size="10">only when planning with differential constraints </text>
<a xlink:href="classompl_1_1control_1_1ControlSampler.html" >
<g>
<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="1.997,1.997" d="M169,58
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<text transform="matrix(1 0 0 1 47.687 35.667)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">ControlSampler</tspan><tspan x="-26.691" y="12" font-family="'Helvetica'" font-size="10">Implements sampling of controls</tspan><tspan x="-16.134" y="24" font-family="'Helvetica'" font-size="10">for a specific ControlSpace.</tspan></text>
</g>
</a>
<a xlink:href="classompl_1_1control_1_1ControlSpace.html" >
<g>
<path fill="#7992A2" stroke="#645D61" stroke-miterlimit="10" d="M342,97c0,11.044-7.164,20-16,20H214c-8.837,0-16-8.956-16-20
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<text transform="matrix(1 0 0 1 230.9932 49.5654)"><tspan x="0" y="0" fill="#FFFFFF" font-family="'Helvetica-Bold'" font-size="12">ControlSpace</tspan><tspan x="-11.299" y="12" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">Represents the control</tspan><tspan x="-18.255" y="24" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">space the planner uses to</tspan><tspan x="-10.748" y="36" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">represent inputs to the</tspan><tspan x="-18.25" y="48" fill="#FFFFFF" font-family="'Helvetica'" font-size="10">system being planned for.</tspan></text>
</g>
</a>
<a xlink:href="classompl_1_1control_1_1DirectedControlSampler.html" >
<g>
<path fill="#C0DCF3" stroke="#7992A2" stroke-miterlimit="10" stroke-dasharray="1.997,1.997" d="M168.193,107.067
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<text transform="matrix(1 0 0 1 24.6182 84.9453)"><tspan x="0" y="0" font-family="'Helvetica-Bold'" font-size="12">DirectedControlSampler</tspan><tspan x="4.256" y="12" font-family="'Helvetica'" font-size="10">Sample controls that take the </tspan><tspan x="-1.293" y="24" font-family="'Helvetica'" font-size="10">system towards a desired state.</tspan></text>
</g>
</a>
<a xlink:href="classompl_1_1control_1_1StatePropagator.html" >
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\endhtmlonly
The class ownership diagram above shows the relationship between the essential base classes in OMPL. For example, __SpaceInformation__ owns a __StateSpace__; __Planner__ does _not_ own __SpaceInformation__, although a __Planner__ does know about the __SpaceInformation__, and uses provided functionality. Users are encouraged to use the __SimpleSetup__ class (ompl::geometric::SimpleSetup or ompl::control::SimpleSetup). With this class, it is only necessary to instantiate a ompl::base::StateSpace object, a ompl::control::ControlSpace object (when planning with differential constraints, i.e, planning with controls), and a ompl::base::StateValidityChecker object. Many common state spaces have already been implemented as derived __StateSpace__ classes. See a list [here](spaces.html).
The ompl::base::StateValidityChecker is problem-specific, so no default implementation is available. See [this document](stateValidation.html) for more information on state validity checking. For more advanced definitions of goals, see [this document](goalRepresentation.html).
#### Doxygen-generated documentation
- [Namespace List](namespaces.html)
- [Class List](annotated.html)
#### Thread safety
All static, non-member or const member functions are thread safe. Calling member functions that are not const in multiple threads simultaneously is unsafe and locks should be used.
#### Memory management
For all base classes __Class__, a __ClassPtr__ type is defined as well. __ClassPtr__ is in fact a [boost shared pointer](http://wiki.inkscape.org/wiki/index.php/Boost_shared_pointers) for __Class__:
~~~{.cpp}
class Class;
typedef boost::shared_ptr<Class> ClassPtr;
~~~
The code above is generated by the OMPL_CLASS_FORWARD macro defined in ompl/util/ClassForward.h:
~~~{.cpp}
OMPL_CLASS_FORWARD(Class);
~~~
Often the user is required to operate with \b *Ptr variables, in order to ensure all memory is freed at the termination of the program without explicitly calling `delete`. For some classes internal to the library, a C-style pointer is maintained instead of the \b *Ptr variable to avoid cyclic dependencies (which prevent memory de-allocation).
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