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/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
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*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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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