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 
42 namespace ompl
43 {
44  namespace base
45  {
46 
50  class State
51  {
52  private:
53 
55  State(const State&);
56 
58  const State& operator=(const State&);
59 
60  protected:
61 
62  State()
63  {
64  }
65 
66  virtual ~State()
67  {
68  }
69 
70  public:
71 
73  template<class T>
74  const T* as() const
75  {
77  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
78 
79  return static_cast<const T*>(this);
80  }
81 
83  template<class T>
84  T* as()
85  {
87  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
88 
89  return static_cast<T*>(this);
90  }
91 
92  };
93 
95  class CompoundState : public State
96  {
97  public:
98 
99  CompoundState() : State(), components(NULL)
100  {
101  }
102 
103  virtual ~CompoundState()
104  {
105  }
106 
108  template<class T>
109  const T* as(const unsigned int index) const
110  {
112  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
113 
114  return static_cast<const T*>(components[index]);
115  }
116 
118  template<class T>
119  T* as(const unsigned int index)
120  {
122  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
123 
124  return static_cast<T*>(components[index]);
125  }
126 
129  const State* operator[](unsigned int i) const
130  {
131  return components[i];
132  }
133 
136  State* operator[](unsigned int i)
137  {
138  return components[i];
139  }
140 
143  };
144 
145  }
146 }
147 
148 #endif
Definition of a compound state.
Definition: State.h:95
T * as()
Cast this instance to a desired type.
Definition: State.h:84
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Definition of an abstract state.
Definition: State.h:50
State * operator[](unsigned int i)
Access element ith component. This does not check whether the index is within bounds.
Definition: State.h:136
T * as(const unsigned int index)
Cast a component of this instance to a desired type.
Definition: State.h:119
State ** components
The components that make up a compound state.
Definition: State.h:142
const T * as() const
Cast this instance to a desired type.
Definition: State.h:74
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:129
const T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:109