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/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
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*  modification, are permitted provided that the following conditions
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*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
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*     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
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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_CONTROL_
#define OMPL_CONTROL_CONTROL_

#include <boost/concept_check.hpp>

namespace ompl
{
    namespace control
    {

        /** \brief Definition of an abstract control */
        class Control
        {
        private:

            /** \brief Disable copy-constructor */
            Control(const Control&);

            /** \brief Disable copy operator */
            const Control& operator=(const Control&);

        protected:

            Control(void)
            {
            }

            virtual ~Control(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*, Control*>));

                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*, Control*>));

                return static_cast<T*>(this);
            }

        };

        /** \brief Definition of a compound control */
        class CompoundControl : public Control
        {
        public:

            CompoundControl(void) : Control()
            {
            }

            virtual ~CompoundControl(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*, Control*>));

                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*, Control*>));

                return static_cast<T*>(components[index]);
            }

            /** \brief The components that make up a compound control */
            Control **components;
        };
    }
}
#endif