Path.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PATH_
#define OMPL_BASE_PATH_

#include "ompl/util/ClassForward.h"
#include "ompl/base/Cost.h"
#include <iostream>
#include <boost/concept_check.hpp>
#include <utility>

namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(SpaceInformation);

        OMPL_CLASS_FORWARD(OptimizationObjective);


        OMPL_CLASS_FORWARD(Path);

        class Path
        {
        public:
            // non-copyable
            Path(const Path &) = delete;
            Path &operator=(const Path &) = delete;

            Path(SpaceInformationPtr si) : si_(std::move(si))
            {
            }

            virtual ~Path() = default;

            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }

            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Path *>));

                return static_cast<const T *>(this);
            }

            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Path *>));

                return static_cast<T *>(this);
            }

            virtual double length() const = 0;

            virtual Cost cost(const OptimizationObjectivePtr &obj) const = 0;

            virtual bool check() const = 0;

            virtual void print(std::ostream &out) const = 0;

        protected:
            SpaceInformationPtr si_;
        };
    }
}

#endif