Control.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_CONTROL_
#define OMPL_CONTROL_CONTROL_
 
#include <boost/concept_check.hpp>
 
namespace ompl
{
    namespace control
    {
        class Control
        {
        private:
            Control(const Control &) = delete;

            const Control &operator=(const Control &) = delete;
 
        protected:
            Control() = default;
 
            virtual ~Control() = default;
 
        public:
            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
 
                return static_cast<const T *>(this);
            }

            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
 
                return static_cast<T *>(this);
            }
        };

        class CompoundControl : public Control
        {
        public:
            CompoundControl() = default;
 
            ~CompoundControl() override = default;

            template <class T>
            const T *as(unsigned int index) const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
 
                return static_cast<const T *>(components[index]);
            }

            template <class T>
            T *as(unsigned int index)
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
 
                return static_cast<T *>(components[index]);
            }

            Control *operator[](unsigned int index)
            {
                return components[index];
            }

            Control **components;
        };
    }  // namespace control
}  // namespace ompl
#endif