PlannerAdapter.hpp

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#ifndef AIKIDO_PLANNER_DART_PLANNERADAPTER_HPP_
#define AIKIDO_PLANNER_DART_PLANNERADAPTER_HPP_
 
namespace aikido {
namespace planner {
namespace dart {
 
template <
    typename DelegatePlanner,
    typename TargetPlanner,
    typename DelegateIsDartPlanner = void>
class PlannerAdapter : public TargetPlanner
{
public:
  explicit PlannerAdapter(
      std::shared_ptr<DelegatePlanner> planner,
      ::dart::dynamics::MetaSkeletonPtr metaSkeleton);
 
  virtual ~PlannerAdapter() = default;
 
protected:
  std::shared_ptr<DelegatePlanner> mDelegate;
};
 
template <typename DelegatePlanner, typename TargetPlanner>
class PlannerAdapter<
    DelegatePlanner,
    TargetPlanner,
    typename std::enable_if<std::is_base_of<
        dart::SingleProblemPlanner<
            DelegatePlanner,
            typename DelegatePlanner::SolvableProblem>,
        DelegatePlanner>::value>::type>
{
public:
  explicit PlannerAdapter(std::shared_ptr<DelegatePlanner> planner);
 
  virtual ~PlannerAdapter() = default;
 
protected:
  std::shared_ptr<DelegatePlanner> mDelegate;
};
 
} // namespace dart
} // namespace planner
} // namespace aikido
 
#include "aikido/planner/dart/detail/PlannerAdapter-impl.hpp"
 
#endif // AIKIDO_PLANNER_DART_PLANNERADAPTER_HPP_