StateHandle.hpp

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#ifndef AIKIDO_STATESPACE_STATEHANDLE_HPP_
#define AIKIDO_STATESPACE_STATEHANDLE_HPP_
 
#include <type_traits>
 
namespace aikido {
namespace statespace {
 
template <class _StateSpace, class _QualifiedState>
class StateHandle
{
public:
  using StateSpace = _StateSpace;
  using QualifiedState = _QualifiedState;
 
  using State = typename StateSpace::State;
  using ConstState = typename std::conditional<
      std::is_const<QualifiedState>::value,
      QualifiedState,
      const QualifiedState>::type;
 
  StateHandle();
 
  StateHandle(const StateSpace* space, QualifiedState* state);
 
  StateHandle(const StateHandle&) = default;
  StateHandle(StateHandle&&) = default;
 
  StateHandle& operator=(StateHandle&&) = default;
  StateHandle& operator=(const StateHandle&) = default;
 
  operator QualifiedState*() const;
 
  void reset();
 
  void reset(const StateSpace* space, QualifiedState* state);
 
  template <typename Q = QualifiedState>
  auto getState() ->
      typename std::enable_if<!std::is_const<Q>::value, Q*>::type;
  // Note: We don't define non-const function for const State type because it
  // violates const-correctness.
 
  template <typename Q = QualifiedState>
  auto getState() const ->
      typename std::conditional<std::is_const<Q>::value, Q*, const Q*>::type;
 
  const StateSpace* getStateSpace() const;
 
protected:
  const StateSpace* mSpace;
 
  QualifiedState* mState;
};
 
} // namespace statespace
} // namespace aikido
 
#include "detail/StateHandle-impl.hpp"
 
#endif // AIKIDO_STATESPACE_STATEHANDLE_HPP_