TypedStateValidityChecker.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2015, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Neil T. Dantam */
 
#ifndef OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
#define OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/StateValidityChecker.h"
#include "ompl/base/TypedSpaceInformation.h"
 
namespace ompl
{
    namespace base
    {
        template <typename SpaceType_>
        class TypedStateValidityChecker : public StateValidityChecker
        {
        public:
            using SpaceType = SpaceType_;
            using SpaceInformationType = TypedSpaceInformation<SpaceType>;
 
            TypedStateValidityChecker(SpaceInformationType *si) : StateValidityChecker(si)
            {
            }
 
            TypedStateValidityChecker(const typename SpaceInformationType::Ptr &si) : StateValidityChecker(si)
            {
            }
 
            SpaceInformationType *getTypedSpaceInformation() const
            {
                return static_cast<SpaceInformationType *>(si_);
            }
 
            SpaceType *getTypedStateSpace() const
            {
                return getTypedSpaceInformation()->getTypedStateSpace();
            }
 
            static typename SpaceType::StateType *state_as(State *s)
            {
                return SpaceInformationType::state_as(s);
            }
 
            static const typename SpaceType::StateType *state_as(const State *s)
            {
                return SpaceInformationType::state_as(s);
            }
        };
    }
}
#endif