State.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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
const T * as() const
Cast this instance to a desired type.
Definition: State.h:162
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:179
State ** components
The components that make up a compound state.
Definition: State.h:192
Main namespace. Contains everything in this library.