State.h

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

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

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

        class CompoundState : public State
        {
        public:
            CompoundState() = default;
 
            ~CompoundState() override = default;

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

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

            const State *operator[](unsigned int i) const
            {
                return components[i];
            }

            State *operator[](unsigned int i)
            {
                return components[i];
            }

            State **components{nullptr};
        };
    }  // namespace base
}  // namespace ompl
 
#endif