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State.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_STATE_
00038 #define OMPL_BASE_STATE_
00039 
00040 #include <boost/concept_check.hpp>
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046 
00050         class State
00051         {
00052         private:
00053 
00055             State(const State&);
00056 
00058             const State& operator=(const State&);
00059 
00060         protected:
00061 
00062             State(void)
00063             {
00064             }
00065 
00066             virtual ~State(void)
00067             {
00068             }
00069 
00070         public:
00071 
00073             template<class T>
00074             const T* as(void) const
00075             {
00077                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
00078 
00079                 return static_cast<const T*>(this);
00080             }
00081 
00083             template<class T>
00084             T* as(void)
00085             {
00087                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
00088 
00089                 return static_cast<T*>(this);
00090             }
00091 
00092         };
00093 
00095         class CompoundState : public State
00096         {
00097         public:
00098 
00099             CompoundState(void) : State(), components(NULL)
00100             {
00101             }
00102 
00103             virtual ~CompoundState(void)
00104             {
00105             }
00106 
00108             template<class T>
00109             const T* as(const unsigned int index) const
00110             {
00112                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
00113 
00114                 return static_cast<const T*>(components[index]);
00115             }
00116 
00118             template<class T>
00119             T* as(const unsigned int index)
00120             {
00122                 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
00123 
00124                 return static_cast<T*>(components[index]);
00125             }
00126 
00129             State* operator[](unsigned int i) const
00130             {
00131                 return components[i];
00132             }
00133 
00135             State **components;
00136         };
00137 
00138     }
00139 }
00140 
00141 #endif