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Control.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_CONTROL_
00038 #define OMPL_CONTROL_CONTROL_
00039 
00040 #include <boost/concept_check.hpp>
00041 
00042 namespace ompl
00043 {
00044     namespace control
00045     {
00046 
00048         class Control
00049         {
00050         private:
00051 
00053             Control(const Control&);
00054 
00056             const Control& operator=(const Control&);
00057 
00058         protected:
00059 
00060             Control(void)
00061             {
00062             }
00063 
00064             virtual ~Control(void)
00065             {
00066             }
00067 
00068         public:
00069 
00071             template<class T>
00072             const T* as(void) const
00073             {
00075                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
00076 
00077                 return static_cast<const T*>(this);
00078             }
00079 
00081             template<class T>
00082             T* as(void)
00083             {
00085                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
00086 
00087                 return static_cast<T*>(this);
00088             }
00089 
00090         };
00091 
00093         class CompoundControl : public Control
00094         {
00095         public:
00096 
00097             CompoundControl(void) : Control()
00098             {
00099             }
00100 
00101             virtual ~CompoundControl(void)
00102             {
00103             }
00104 
00106             template<class T>
00107             const T* as(const unsigned int index) const
00108             {
00110                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
00111 
00112                 return static_cast<const T*>(components[index]);
00113             }
00114 
00116             template<class T>
00117             T* as(const unsigned int index)
00118             {
00120                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
00121 
00122                 return static_cast<T*>(components[index]);
00123             }
00124 
00126             Control **components;
00127         };
00128     }
00129 }
00130 #endif