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State.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_STATE_
38#define OMPL_BASE_STATE_
39
40#include <boost/concept_check.hpp>
41
42namespace 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
Definition of a compound state.
Definition State.h:87
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition State.h:95
State * operator[](unsigned int i)
Access element ith component. This does not check whether the index is within bounds.
Definition State.h:122
T * as(const unsigned int index)
Cast a component of this instance to a desired type.
Definition State.h:105
State ** components
The components that make up a compound state.
Definition State.h:128
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:115
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
T * as()
Cast this instance to a desired type.
Definition State.h:76
Main namespace. Contains everything in this library.