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Control.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_CONTROL_
38 #define OMPL_CONTROL_CONTROL_
39 
40 #include <boost/concept_check.hpp>
41 
42 namespace ompl
43 {
44  namespace control
45  {
46 
48  class Control
49  {
50  private:
51 
53  Control(const Control&);
54 
56  const Control& operator=(const Control&);
57 
58  protected:
59 
60  Control(void)
61  {
62  }
63 
64  virtual ~Control(void)
65  {
66  }
67 
68  public:
69 
71  template<class T>
72  const T* as(void) const
73  {
75  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
76 
77  return static_cast<const T*>(this);
78  }
79 
81  template<class T>
82  T* as(void)
83  {
85  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
86 
87  return static_cast<T*>(this);
88  }
89 
90  };
91 
93  class CompoundControl : public Control
94  {
95  public:
96 
97  CompoundControl(void) : Control()
98  {
99  }
100 
101  virtual ~CompoundControl(void)
102  {
103  }
104 
106  template<class T>
107  const T* as(const unsigned int index) const
108  {
110  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
111 
112  return static_cast<const T*>(components[index]);
113  }
114 
116  template<class T>
117  T* as(const unsigned int index)
118  {
120  BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Control*>));
121 
122  return static_cast<T*>(components[index]);
123  }
124 
127  };
128  }
129 }
130 #endif
Definition of an abstract control.
Definition: Control.h:48
const T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: Control.h:107
Control ** components
The components that make up a compound control.
Definition: Control.h:126
Definition of a compound control.
Definition: Control.h:93
T * as(const unsigned int index)
Cast a component of this instance to a desired type.
Definition: Control.h:117
T * as(void)
Cast this instance to a desired type.
Definition: Control.h:82
const T * as(void) const
Cast this instance to a desired type.
Definition: Control.h:72