/usr/include/ompl/control/Control.h is in libompl-dev 1.2.1+ds1-1build1.
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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()
{
}
virtual ~Control()
{
}
public:
/** \brief Cast this instance to a desired type. */
template<class T>
const T* as() 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()
{
/** \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() : Control()
{
}
virtual ~CompoundControl()
{
}
/** \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
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