State.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_STATE_
#define OMPL_BASE_STATE_

#include <boost/concept_check.hpp>

namespace ompl
{
    namespace base
    {

        class State
        {
        private:

            State(const State&);

            const State& operator=(const State&);

        protected:

            State()
            {
            }

            virtual ~State()
            {
            }

        public:

            template<class T>
            const T* as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));

                return static_cast<const T*>(this);
            }

            template<class T>
            T* as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));

                return static_cast<T*>(this);
            }

        };

        class CompoundState : public State
        {
        public:

            CompoundState() : State(), components(nullptr)
            {
            }

            virtual ~CompoundState()
            {
            }

            template<class T>
            const T* as(const unsigned int index) const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));

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

            template<class T>
            T* as(const unsigned int index)
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, State*>));

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

            const State* operator[](unsigned int i) const
            {
                return components[i];
            }

            State* operator[](unsigned int i)
            {
                return components[i];
            }

            State **components;
        };

    }
}

#endif