Loading...
Searching...
No Matches
Control.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_CONTROL_CONTROL_
38#define OMPL_CONTROL_CONTROL_
39
40#include <boost/concept_check.hpp>
41
42namespace ompl
43{
44 namespace control
45 {
47 class Control
48 {
49 private:
51 Control(const Control &) = delete;
52
54 const Control &operator=(const Control &) = delete;
55
56 protected:
57 Control() = default;
58
59 virtual ~Control() = default;
60
61 public:
63 template <class T>
64 const T *as() const
65 {
67 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
68
69 return static_cast<const T *>(this);
70 }
71
73 template <class T>
74 T *as()
75 {
77 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
78
79 return static_cast<T *>(this);
80 }
81 };
82
84 class CompoundControl : public Control
85 {
86 public:
87 CompoundControl() = default;
88
89 ~CompoundControl() override = default;
90
92 template <class T>
93 const T *as(unsigned int index) const
94 {
96 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
97
98 return static_cast<const T *>(components[index]);
99 }
100
102 template <class T>
103 T *as(unsigned int index)
104 {
106 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));
107
108 return static_cast<T *>(components[index]);
109 }
110
112 Control* operator[](unsigned int index)
113 {
114 return components[index];
115 }
116
119 };
120 }
121}
122#endif
Definition of a compound control.
Definition Control.h:85
Control ** components
The components that make up a compound control.
Definition Control.h:118
Control * operator[](unsigned int index)
Return the i-th control component.
Definition Control.h:112
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition Control.h:93
T * as(unsigned int index)
Cast a component of this instance to a desired type.
Definition Control.h:103
Definition of an abstract control.
Definition Control.h:48
T * as()
Cast this instance to a desired type.
Definition Control.h:74
const T * as() const
Cast this instance to a desired type.
Definition Control.h:64
Main namespace. Contains everything in this library.