JointPtr.hpp

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#ifndef DART_DYNAMICS_DETAIL_JOINTPTR_HPP_
#define DART_DYNAMICS_DETAIL_JOINTPTR_HPP_
 
#include "dart/dynamics/detail/BodyNodePtr.hpp"
 
namespace dart {
namespace dynamics {
 
template <class JointT, class BodyNodeT>
class TemplateJointPtr
{
public:
  template <class, class>
  friend class TemplateJointPtr;
 
  typedef JointT element_type;
 
  TemplateJointPtr() = default;
 
  TemplateJointPtr(JointT* _ptr)
  {
    set(_ptr);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  TemplateJointPtr(const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _jptr)
  {
    set(_jptr.get());
  }
 
  TemplateJointPtr& operator=(JointT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  TemplateJointPtr& operator=(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _jptr)
  {
    set(_jptr.get());
    return *this;
  }
 
  operator JointT*() const
  {
    return get();
  }
 
  JointT& operator*() const
  {
    return *get();
  }
 
  JointT* operator->() const
  {
    return get();
  }
 
  JointT* get() const
  {
    if (nullptr == mBodyNodePtr)
      return nullptr;
 
    return mBodyNodePtr->getParentJoint();
  }
 
  TemplateBodyNodePtr<BodyNodeT> getBodyNodePtr() const
  {
    return mBodyNodePtr;
  }
 
  void set(JointT* _ptr)
  {
    if (nullptr == _ptr)
    {
      mBodyNodePtr = nullptr;
      return;
    }
 
    mBodyNodePtr = _ptr->getChildBodyNode();
  }
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  template <class OtherJointT, class OtherBodyNodeT>
  bool operator==(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _rhs) const
  {
    return mBodyNodePtr == _rhs.mBodyNodePtr;
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  bool operator!=(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _rhs) const
  {
    return !(*this == _rhs);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  bool operator<(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _rhs) const
  {
    return (mBodyNodePtr < _rhs.mBodyNodePtr);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  bool operator>(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _rhs) const
  {
    return (mBodyNodePtr > _rhs.mBodyNodePtr);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  bool operator<=(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _rhs) const
  {
    return (*this < _rhs) || (*this == _rhs);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  bool operator>=(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _rhs) const
  {
    return (*this > _rhs) || (*this == _rhs);
  }
 
 
private:
  TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
};
 
template <class JointT, class BodyNodeT>
class TemplateWeakJointPtr
{
public:
  template <class, class>
  friend class TemplateWeakJointPtr;
 
  TemplateWeakJointPtr() = default;
 
  TemplateWeakJointPtr(JointT* _ptr)
  {
    set(_ptr);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  TemplateWeakJointPtr(
      const TemplateWeakJointPtr<OtherJointT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  TemplateWeakJointPtr(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
  }
 
  TemplateWeakJointPtr& operator=(JointT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  TemplateWeakJointPtr& operator=(
      const TemplateWeakJointPtr<OtherJointT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
    return *this;
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  TemplateWeakJointPtr& operator=(
      const TemplateJointPtr<OtherJointT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
    return *this;
  }
 
  TemplateJointPtr<JointT, BodyNodeT> lock() const
  {
    TemplateBodyNodePtr<BodyNodeT> bodyNode = mWeakBodyNode.lock();
    if (nullptr == bodyNode)
      return nullptr;
 
    return TemplateJointPtr<JointT, BodyNodeT>(bodyNode->getParentJoint());
  }
 
  void set(JointT* _ptr)
  {
    if (nullptr == _ptr)
    {
      mWeakBodyNode = nullptr;
      return;
    }
 
    mWeakBodyNode = _ptr->getChildBodyNode();
  }
 
  template <class OtherJointT, class OtherBodyNodeT>
  void set(const TemplateWeakJointPtr<OtherJointT, OtherBodyNodeT>& _weakPtr)
  {
    mWeakBodyNode = _weakPtr.mWeakBodyNode;
  }
 
private:
  TemplateWeakBodyNodePtr<BodyNodeT> mWeakBodyNode;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_JOINTPTR_HPP_