-
Notifications
You must be signed in to change notification settings - Fork 1
Expand file tree
/
Copy pathConsole_8cpp_source.html
More file actions
390 lines (388 loc) · 47.1 KB
/
Console_8cpp_source.html
File metadata and controls
390 lines (388 loc) · 47.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<meta name="generator" content="Doxygen 1.8.17"/>
<title>ompl/util/src/Console.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script src="jquery.js"></script>
<script src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function() { init_search(); });
/* @license-end */
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="group__demos.html">Demos</a>
<a class="dropdown-item omplapp" href="gui.html">OMPL.app GUI</a>
<a class="dropdown-item omplapp" href="webapp.html">OMPL web app</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Repositories</div>
<a class="dropdown-item" href="https://github.com/ompl/ompl">ompl on GitHub</a>
<a class="dropdown-item" href="https://github.com/ompl/omplapp">omplapp on GitHub</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Continuous Integration</div>
<a class="dropdown-item" href="https://travis-ci.org/ompl/ompl">ompl on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://travis-ci.org/ompl/omplapp">omplapp on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/ompl">ompl on AppVeyor CI (Windows)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/omplapp">omplapp on AppVeyor CI (Windows)</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
<a class="dropdown-item" href="education.html">Education</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_efdc19d105c21b1223d5f8dc524071be.html">ompl</a></li><li class="navelem"><a class="el" href="dir_a0aa627f6735340f26cb592001cd7598.html">util</a></li><li class="navelem"><a class="el" href="dir_240bee518843c7e7baaf0a4f6a44e8f3.html">src</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">Console.cpp</div> </div>
</div><!--header-->
<div class="contents">
<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) 2008, Willow Garage, Inc.</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 Willow Garage nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "<a class="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <mutex></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <iostream></span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <cstdio></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <cstdarg></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#ifdef _WIN32</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <stdio.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <io.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#define isatty(x) _isatty(x)</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#define fileno(x) _fileno(x)</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#else</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <unistd.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#endif</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="preprocessor">#define ANSI_COLOR_RED "\x1b[31m"</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#define ANSI_COLOR_GREEN "\x1b[32m"</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor">#define ANSI_COLOR_YELLOW "\x1b[33m"</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#define ANSI_COLOR_BLUE "\x1b[34m"</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor">#define ANSI_COLOR_MAGENTA "\x1b[35m"</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#define ANSI_COLOR_CYAN "\x1b[36m"</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#define ANSI_COLOR_RESET "\x1b[0m"</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </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> <span class="keyword">struct </span>DefaultOutputHandler</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>  DefaultOutputHandler()</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  {</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  output_handler_ = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a> *<span class="keyword">></span>(&std_output_handler_);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  previous_output_handler_ = output_handler_;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  logLevel_ = ompl::msg::LOG_DEBUG;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  }</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html">ompl::msg::OutputHandlerSTD</a> std_output_handler_;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a> *output_handler_;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a> *previous_output_handler_;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a> logLevel_;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  std::mutex lock_; <span class="comment">// it is likely the outputhandler does some I/O, so we serialize it</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>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment">// we use this function because we want to handle static initialization correctly</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment">// however, the first run of this function is not thread safe, due to the use of a static</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment">// variable inside the function. For this reason, we ensure the first call happens during</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment">// static initialization using a proxy class</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">static</span> DefaultOutputHandler *getDOH()</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>  <span class="keyword">static</span> DefaultOutputHandler DOH;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">return</span> &DOH;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="preprocessor">#define USE_DOH \</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="preprocessor"> DefaultOutputHandler *doh = getDOH(); \</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="preprocessor"> std::lock_guard<std::mutex> slock(doh->lock_)</span></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="preprocessor">#define MAX_BUFFER_SIZE 1024</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d"> 95</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a>()</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> {</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  USE_DOH;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  doh->previous_output_handler_ = doh->output_handler_;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  doh->output_handler_ = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> }</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#ae944620cc2012c5ffe07e8bb6186d28c"> 102</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#ae944620cc2012c5ffe07e8bb6186d28c">ompl::msg::restorePreviousOutputHandler</a>()</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> {</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  USE_DOH;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  std::swap(doh->previous_output_handler_, doh->output_handler_);</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>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b"> 108</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">ompl::msg::useOutputHandler</a>(<a class="code" href="classompl_1_1msg_1_1OutputHandler.html">OutputHandler</a> *oh)</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> {</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  USE_DOH;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  doh->previous_output_handler_ = doh->output_handler_;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  doh->output_handler_ = oh;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> }</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746"> 115</a></span> <a class="code" href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a> *<a class="code" href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">ompl::msg::getOutputHandler</a>()</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> {</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">return</span> getDOH()->output_handler_;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350"> 120</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *file, <span class="keywordtype">int</span> line, <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level, <span class="keyword">const</span> <span class="keywordtype">char</span> *m, ...)</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> {</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  USE_DOH;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">if</span> ((doh->output_handler_ != <span class="keyword">nullptr</span>) && level >= doh->logLevel_)</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  {</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  va_list __ap;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  va_start(__ap, m);</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">char</span> buf[MAX_BUFFER_SIZE];</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  vsnprintf(buf, <span class="keyword">sizeof</span>(buf), m, __ap);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  va_end(__ap);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  buf[MAX_BUFFER_SIZE - 1] = <span class="charliteral">'\0'</span>;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  doh->output_handler_->log(buf, level, file, line);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  }</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864"> 136</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">ompl::msg::setLogLevel</a>(<a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level)</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> {</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  USE_DOH;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  doh->logLevel_ = level;</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314"> 142</a></span> <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a> <a class="code" href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314">ompl::msg::getLogLevel</a>()</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  USE_DOH;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">return</span> doh->logLevel_;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> *LogLevelString[6] = {<span class="stringliteral">"Dev2: "</span>, <span class="stringliteral">"Dev1: "</span>, <span class="stringliteral">"Debug: "</span>, <span class="stringliteral">"Info: "</span>, <span class="stringliteral">"Warning: "</span>, <span class="stringliteral">"Error: "</span>};</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> *LogColorString[6] = {ANSI_COLOR_MAGENTA, ANSI_COLOR_GREEN, ANSI_COLOR_BLUE,</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  ANSI_COLOR_CYAN, ANSI_COLOR_YELLOW, ANSI_COLOR_RED};</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a582e1a90e43fa2b2fb9b66e7b7ae8a60"> 152</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a582e1a90e43fa2b2fb9b66e7b7ae8a60">ompl::msg::OutputHandlerSTD::log</a>(<span class="keyword">const</span> std::string &text, <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level, <span class="keyword">const</span> <span class="keywordtype">char</span> *filename, <span class="keywordtype">int</span> line)</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> {</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">if</span> (level >= LOG_WARN)</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  {</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordtype">bool</span> isTTY(isatty(fileno(stderr)) != 0);</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">if</span> (isTTY)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  std::cerr << LogColorString[level + 2];</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  std::cerr << LogLevelString[level + 2] << text << std::endl;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  std::cerr << <span class="stringliteral">" at line "</span> << line << <span class="stringliteral">" in "</span> << filename << std::endl;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">if</span> (isTTY)</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  std::cerr << ANSI_COLOR_RESET;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  std::cerr.flush();</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  }</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  {</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">bool</span> isTTY(isatty(fileno(stdout)) != 0);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">if</span> (isTTY)</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  std::cout << LogColorString[level + 2];</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  std::cout << LogLevelString[level + 2] << text << std::endl;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">if</span> (isTTY)</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  std::cout << ANSI_COLOR_RESET;</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  std::cout.flush();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81"> 177</a></span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81">ompl::msg::OutputHandlerFile::OutputHandlerFile</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *filename)</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> {</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  file_ = fopen(filename, <span class="stringliteral">"a"</span>);</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span> (file_ == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  std::cerr << <span class="stringliteral">"Unable to open log file: '"</span> << filename << <span class="stringliteral">"'"</span> << std::endl;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> }</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> ompl::msg::OutputHandlerFile::~OutputHandlerFile()</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> {</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">if</span> (file_ != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">if</span> (fclose(file_) != 0)</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  std::cerr << <span class="stringliteral">"Error closing logfile"</span> << std::endl;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> }</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_1msg_1_1OutputHandlerFile.html#a1491c556f1cea44e15a1afb23f43ea63"> 191</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a1491c556f1cea44e15a1afb23f43ea63">ompl::msg::OutputHandlerFile::log</a>(<span class="keyword">const</span> std::string &text, <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">LogLevel</a> level, <span class="keyword">const</span> <span class="keywordtype">char</span> *filename, <span class="keywordtype">int</span> line)</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> {</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">if</span> (file_ != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  {</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  fprintf(file_, <span class="stringliteral">"%s%s\n"</span>, LogLevelString[level + 2], text.c_str());</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">if</span> (level >= LOG_WARN)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  fprintf(file_, <span class="stringliteral">" at line %d in %s\n"</span>, line, filename);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  fflush(file_);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="anamespaceompl_1_1msg_html_a83e28f524a5576a73bb062523bbdc53d"><div class="ttname"><a href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a></div><div class="ttdeci">void noOutputHandler()</div><div class="ttdoc">This function instructs ompl that no messages should be outputted. Equivalent to useOutputHandler(nul...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00095">Console.cpp:95</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandler_html"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a></div><div class="ttdoc">Generic class to handle output from a piece of code.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00102">Console.h:102</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a66fd8fd39855d4166ff40164fe4d9d6b"><div class="ttname"><a href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">ompl::msg::useOutputHandler</a></div><div class="ttdeci">void useOutputHandler(OutputHandler *oh)</div><div class="ttdoc">Specify the instance of the OutputHandler to use. By default, this is OutputHandlerSTD.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00108">Console.cpp:108</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandlerSTD_html_a582e1a90e43fa2b2fb9b66e7b7ae8a60"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandlerSTD.html#a582e1a90e43fa2b2fb9b66e7b7ae8a60">ompl::msg::OutputHandlerSTD::log</a></div><div class="ttdeci">void log(const std::string &text, LogLevel level, const char *filename, int line) override</div><div class="ttdoc">log a message to the output handler with the given text and logging level from a specific file and li...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00152">Console.cpp:152</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandlerSTD_html"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandlerSTD.html">ompl::msg::OutputHandlerSTD</a></div><div class="ttdoc">Default implementation of OutputHandler. This sends the information to the console.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00116">Console.h:116</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_affe7852f27c06f98af7eb2579f1e5350"><div class="ttname"><a href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a></div><div class="ttdeci">void log(const char *file, int line, LogLevel level, const char *m,...)</div><div class="ttdoc">Root level logging function. This should not be invoked directly, but rather used via a logging macro...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00120">Console.cpp:120</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandlerFile_html_abc64dc38951bc6cb6e80756b6bf95e81"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81">ompl::msg::OutputHandlerFile::OutputHandlerFile</a></div><div class="ttdeci">OutputHandlerFile(const char *filename)</div><div class="ttdoc">The name of the file in which to save the message data.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00177">Console.cpp:177</a></div></div>
<div class="ttc" id="aConsole_8h_html"><div class="ttname"><a href="Console_8h.html">Console.h</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a1c18c4617e713817e0e4fe7dc5c5c864"><div class="ttname"><a href="namespaceompl_1_1msg.html#a1c18c4617e713817e0e4fe7dc5c5c864">ompl::msg::setLogLevel</a></div><div class="ttdeci">void setLogLevel(LogLevel level)</div><div class="ttdoc">Set the minimum level of logging data to output. Messages with lower logging levels will not be recor...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00136">Console.cpp:136</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_ace832246a7b4bc5a50dde93a7e29a6b9"><div class="ttname"><a href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a></div><div class="ttdeci">LogLevel</div><div class="ttdoc">The set of priorities for message logging.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00084">Console.h:84</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_ae944620cc2012c5ffe07e8bb6186d28c"><div class="ttname"><a href="namespaceompl_1_1msg.html#ae944620cc2012c5ffe07e8bb6186d28c">ompl::msg::restorePreviousOutputHandler</a></div><div class="ttdeci">void restorePreviousOutputHandler()</div><div class="ttdoc">Restore the output handler that was previously in use (if any)</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00102">Console.cpp:102</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandlerFile_html_a1491c556f1cea44e15a1afb23f43ea63"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandlerFile.html#a1491c556f1cea44e15a1afb23f43ea63">ompl::msg::OutputHandlerFile::log</a></div><div class="ttdeci">void log(const std::string &text, LogLevel level, const char *filename, int line) override</div><div class="ttdoc">log a message to the output handler with the given text and logging level from a specific file and li...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00191">Console.cpp:191</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_ad43f0d2a008f25720e8111395c5ff314"><div class="ttname"><a href="namespaceompl_1_1msg.html#ad43f0d2a008f25720e8111395c5ff314">ompl::msg::getLogLevel</a></div><div class="ttdeci">LogLevel getLogLevel()</div><div class="ttdoc">Retrieve the current level of logging data. Messages with lower logging levels will not be recorded.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00142">Console.cpp:142</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a0e9a5d161592281f8caf01b0c8b2e746"><div class="ttname"><a href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">ompl::msg::getOutputHandler</a></div><div class="ttdeci">OutputHandler * getOutputHandler()</div><div class="ttdoc">Get the instance of the OutputHandler currently used. This is nullptr in case there is no output hand...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00115">Console.cpp:115</a></div></div>
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.8.17
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>