.. _program_listing_file_src_ompl_base_State.h:

Program Listing for File State.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_State.h>` (``src/ompl/base/State.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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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 &) = delete;
   
               const State &operator=(const State &) = delete;
   
           protected:
               State() = default;
   
               virtual ~State() = default;
   
           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() = default;
   
               ~CompoundState() override = default;
   
               template <class T>
               const T *as(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{nullptr};
           };
       }
   }
   
   #endif