Control.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_CONTROL_
38 #define OMPL_CONTROL_CONTROL_
39 
40 #include <boost/concept_check.hpp>
41 
42 namespace ompl
43 {
44  namespace control
45  {
47  class Control
48  {
49  private:
51  Control(const Control &) = delete;
52 
54  const Control &operator=(const Control &) = delete;
55 
56  protected:
57  Control() = default;
58 
59  virtual ~Control() = default;
60 
61  public:
63  template <class T>
64  const T *as() const
65  {
67  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
68 
69  return static_cast<const T *>(this);
70  }
71 
73  template <class T>
74  T *as()
75  {
77  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
78 
79  return static_cast<T *>(this);
80  }
81  };
82 
84  class CompoundControl : public Control
85  {
86  public:
87  CompoundControl() = default;
88 
89  ~CompoundControl() override = default;
90 
92  template <class T>
93  const T *as(const unsigned int index) const
94  {
96  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
97 
98  return static_cast<const T *>(components[index]);
99  }
100 
102  template <class T>
103  T *as(const unsigned int index)
104  {
106  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
107 
108  return static_cast<T *>(components[index]);
109  }
110 
113  };
114  }
115 }
116 #endif
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:64
Definition of an abstract control.
Definition: Control.h:47
T * as()
Cast this instance to a desired type.
Definition: Control.h:74
Control ** components
The components that make up a compound control.
Definition: Control.h:112
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Definition of a compound control.
Definition: Control.h:84
T * as(const unsigned int index)
Cast a component of this instance to a desired type.
Definition: Control.h:103
const T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: Control.h:93