/usr/include/ompl/base/State.h is in libompl-dev 0.13.0+git20130920.01d0ca4-1.
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/* Author: Ioan Sucan */
#ifndef OMPL_BASE_STATE_
#define OMPL_BASE_STATE_
#include <boost/concept_check.hpp>
namespace ompl
{
namespace base
{
/** \brief Definition of an abstract state.
See \ref stateAlloc and \ref stateOps. */
class State
{
private:
/** \brief Disable copy-constructor */
State(const State&);
/** \brief Disable copy operator */
const State& operator=(const State&);
protected:
State(void)
{
}
virtual ~State(void)
{
}
public:
/** \brief Cast this instance to a desired type. */
template<class T>
const T* as(void) const
{
/** \brief Make sure the type we are allocating is indeed a state */
BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
return static_cast<const T*>(this);
}
/** \brief Cast this instance to a desired type. */
template<class T>
T* as(void)
{
/** \brief Make sure the type we are allocating is indeed a state */
BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
return static_cast<T*>(this);
}
};
/** \brief Definition of a compound state */
class CompoundState : public State
{
public:
CompoundState(void) : State(), components(NULL)
{
}
virtual ~CompoundState(void)
{
}
/** \brief Cast a component of this instance to a desired type. */
template<class T>
const T* as(const unsigned int index) const
{
/** \brief Make sure the type we are allocating is indeed a state */
BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
return static_cast<const T*>(components[index]);
}
/** \brief Cast a component of this instance to a desired type. */
template<class T>
T* as(const unsigned int index)
{
/** \brief Make sure the type we are allocating is indeed a state */
BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));
return static_cast<T*>(components[index]);
}
/** \brief Access element i<sup>th</sup> component. This
does not check whether the index is within bounds. */
State* operator[](unsigned int i) const
{
return components[i];
}
/** \brief The components that make up a compound state */
State **components;
};
}
}
#endif
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