TypedSpaceInformation.h

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/* Author: Neil T. Dantam */
 
#ifndef OMPL_BASE_TYPED_SPACE_INFORMATION_
#define OMPL_BASE_TYPED_SPACE_INFORMATION_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ScopedState.h"
 
namespace ompl
{
    namespace base
    {
        template <typename SpaceType_>
        class TypedSpaceInformation : public SpaceInformation
        {
        public:
            /*--- Type Definitions ---*/
 
            using SpaceType = SpaceType_;
 
            using StateType = typename SpaceType::StateType;
 
            using ScopedStateType = ScopedState<SpaceType>;
 
            using SpacePtr = std::shared_ptr<SpaceType>;
 
            using Ptr = std::shared_ptr<TypedSpaceInformation<SpaceType>>;
 
            /*--- Constructor ---*/
 
            TypedSpaceInformation(const SpacePtr &space) : SpaceInformation(space)
            {
            }
 
            /*--- Space Accessors ---*/
 
            const SpaceType *getTypedStateSpace() const
            {
                return getStateSpace()->template as<SpaceType>();
            }
 
            SpaceType *getTypedStateSpace()
            {
                return getStateSpace()->template as<SpaceType>();
            }
 
            /*--- State Memory Management ---*/
 
            StateType *allocTypedState() const
            {
                return this->allocState()->template as<StateType>();
            }
 
            void allocTypedStates(std::vector<StateType *> &states) const
            {
                allocStates(states);
            }
 
            void freeTypedState(StateType *state) const
            {
                freeState(state);
            }
 
            void freeTypedStates(std::vector<StateType *> &states) const
            {
                freeStates(states);
            }
 
            void copyTypedState(StateType *destination, const StateType *source) const
            {
                copyState(destination, source);
            }
 
            StateType *cloneTypedState(const StateType *source) const
            {
                return this->cloneState(source)->template as<StateType>();
            }
 
            static StateType *state_as(ompl::base::State *s)
            {
                return s->template as<StateType>();
            }
 
            static const StateType *state_as(const ompl::base::State *s)
            {
                return s->template as<StateType>();
            }
        };
    }
}
 
#endif