State.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_STATE_
38 #define OMPL_BASE_STATE_
39 
40 #include <boost/concept_check.hpp>
41 
42 namespace ompl
43 {
44  namespace base
45  {
49  class State
50  {
51  private:
53  State(const State &) = delete;
54 
56  const State &operator=(const State &) = delete;
57 
58  protected:
59  State() = default;
60 
61  virtual ~State() = default;
62 
63  public:
65  template <class T>
66  const T *as() const
67  {
69  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, State *>));
70 
71  return static_cast<const T *>(this);
72  }
73 
75  template <class T>
76  T *as()
77  {
79  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, State *>));
80 
81  return static_cast<T *>(this);
82  }
83  };
84 
86  class CompoundState : public State
87  {
88  public:
89  CompoundState() = default;
90 
91  ~CompoundState() override = default;
92 
94  template <class T>
95  const T *as(unsigned int index) const
96  {
98  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, State *>));
99 
100  return static_cast<const T *>(components[index]);
101  }
102 
104  template <class T>
105  T *as(const unsigned int index)
106  {
108  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, State *>));
109 
110  return static_cast<T *>(components[index]);
111  }
112 
115  const State *operator[](unsigned int i) const
116  {
117  return components[i];
118  }
119 
122  State *operator[](unsigned int i)
123  {
124  return components[i];
125  }
126 
128  State **components{nullptr};
129  };
130  }
131 }
132 
133 #endif
Definition of a compound state.
Definition: State.h:86
const State * operator[](unsigned int i) const
Access const element ith component. This does not check whether the index is within bounds...
Definition: State.h:115
T * as()
Cast this instance to a desired type.
Definition: State.h:76
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
Definition of an abstract state.
Definition: State.h:49
State * operator[](unsigned int i)
Access element ith component. This does not check whether the index is within bounds.
Definition: State.h:122
T * as(const unsigned int index)
Cast a component of this instance to a desired type.
Definition: State.h:105
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:95