TypedSpaceInformation.h

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/* Author: Neil T. Dantam */

#ifndef OMPL_BASE_TYPED_SPACE_INFORMATION_
#define OMPL_BASE_TYPED_SPACE_INFORMATION_

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ScopedState.h"

namespace ompl
{
    namespace base
    {

        template<typename SpaceType_>
        class TypedSpaceInformation : public SpaceInformation
        {
        public:

            /*--- Type Definitions ---*/

            typedef SpaceType_ SpaceType;

            typedef typename SpaceType::StateType StateType;

            typedef ScopedState<SpaceType> ScopedStateType;

            typedef std::shared_ptr<SpaceType> SpacePtr;

            typedef std::shared_ptr< TypedSpaceInformation<SpaceType> > Ptr;


            /*--- Constructor ---*/

            TypedSpaceInformation(const SpacePtr &space) : SpaceInformation(space)
            {
            }

            /*--- Space Accessors ---*/

            const SpaceType* getTypedStateSpace() const
            {
                return getStateSpace()->template as<SpaceType>();
            }

            SpaceType* getTypedStateSpace()
            {
                return getStateSpace()->template as<SpaceType>();
            }

            /*--- State Memory Management ---*/

            StateType* allocTypedState() const
            {
                return this->allocState()->template as<StateType>();
            }

            void allocTypedStates(std::vector<StateType *> &states) const
            {
                allocStates(states);
            }

            void freeTypedState(StateType *state) const
            {
                freeState(state);
            }

            void freeTypedStates(std::vector<StateType*> &states) const
            {
                freeStates(states);
            }

            void copyTypedState(StateType *destination, const StateType *source) const
            {
                copyState(destination, source);
            }

            StateType* cloneTypedState(const StateType *source) const {
                return this->cloneState()->template as<StateType>();
            }

            static StateType* state_as(ompl::base::State *s)
            {
                return s->template as<StateType>();
            }

            static const StateType* state_as(const ompl::base::State *s)
            {
                return s->template as<StateType>();
            }

        };

    }

}

#endif