DegreeOfFreedomPtr.hpp

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#ifndef DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
#define DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
 
#include "dart/dynamics/InvalidIndex.hpp"
#include "dart/dynamics/detail/BodyNodePtr.hpp"
 
namespace dart {
namespace dynamics {
 
template <class DegreeOfFreedomT, class BodyNodeT>
class TemplateDegreeOfFreedomPtr
{
public:
  template <class, class>
  friend class TemplateDegreeOfFreedomPtr;
 
  TemplateDegreeOfFreedomPtr() = default;
 
  TemplateDegreeOfFreedomPtr(DegreeOfFreedomT* _ptr)
  {
    set(_ptr);
  }
 
  template <class OtherDegreeOfFreedomT, class OtherBodyNodeT>
  TemplateDegreeOfFreedomPtr(
      const TemplateDegreeOfFreedomPtr<OtherDegreeOfFreedomT, OtherBodyNodeT>&
          _dofp)
  {
    set(_dofp.get());
  }
 
  TemplateDegreeOfFreedomPtr& operator=(DegreeOfFreedomT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherDegreeOfFreedomT, class OtherBodyNodeT>
  TemplateDegreeOfFreedomPtr& operator=(
      const TemplateDegreeOfFreedomPtr<OtherDegreeOfFreedomT, OtherBodyNodeT>&
          _dofp)
  {
    set(_dofp.get());
    return *this;
  }
 
  operator DegreeOfFreedomT*() const
  {
    return get();
  }
 
  DegreeOfFreedomT& operator*() const
  {
    return *get();
  }
 
  DegreeOfFreedomT* operator->() const
  {
    return get();
  }
 
  DegreeOfFreedomT* get() const
  {
    if (nullptr == mBodyNodePtr)
      return nullptr;
 
    return mBodyNodePtr->getParentJoint()->getDof(mIndex);
  }
 
  TemplateBodyNodePtr<BodyNodeT> getBodyNodePtr() const
  {
    return mBodyNodePtr;
  }
 
  std::size_t getLocalIndex() const
  {
    if (nullptr == mBodyNodePtr)
      return INVALID_INDEX;
 
    return mIndex;
  }
 
  void set(DegreeOfFreedomT* _ptr)
  {
    if (nullptr == _ptr)
    {
      mBodyNodePtr = nullptr;
      return;
    }
 
    mBodyNodePtr = _ptr->getChildBodyNode();
    mIndex = _ptr->getIndexInJoint();
  }
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator==(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
  {
    if (nullptr == mBodyNodePtr && nullptr == _rhs.mBodyNodePtr)
      return true;
 
    if ((mBodyNodePtr == _rhs.mBodyNodePtr) && (mIndex == _rhs.mIndex))
      return true;
 
    return false;
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator!=(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
  {
    return !(*this == _rhs);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator<(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
  {
    if (mBodyNodePtr == _rhs.mBodyNodePtr)
      return (mIndex < _rhs.mIndex);
 
    return (mBodyNodePtr < _rhs.mBodyNodePtr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator>(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
  {
    if (mBodyNodePtr == _rhs.mBodyNodePtr)
      return (mIndex > _rhs.mIndex);
 
    return (mBodyNodePtr > _rhs.mBodyNodePtr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator<=(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
  {
    return (*this < _rhs) || (*this == _rhs);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator>=(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
  {
    return (*this > _rhs) || (*this == _rhs);
  }
 
 
private:
  TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
 
  std::size_t mIndex;
};
 
template <class DegreeOfFreedomT, class BodyNodeT>
class TemplateWeakDegreeOfFreedomPtr
{
public:
  template <class, class>
  friend class TemplateWeakDegreeOfFreedomPtr;
 
  TemplateWeakDegreeOfFreedomPtr()
  {
    set(nullptr);
  }
 
  TemplateWeakDegreeOfFreedomPtr(DegreeOfFreedomT* _ptr)
  {
    set(_ptr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr(
      const TemplateWeakDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
  }
 
  TemplateWeakDegreeOfFreedomPtr& operator=(DegreeOfFreedomT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr& operator=(
      const TemplateWeakDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
    return *this;
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr& operator=(
      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
    return *this;
  }
 
  TemplateDegreeOfFreedomPtr<DegreeOfFreedomT, BodyNodeT> lock() const
  {
    TemplateBodyNodePtr<BodyNodeT> bodyNode = mWeakBodyNode.lock();
    if (nullptr == bodyNode)
      return nullptr;
 
    return TemplateDegreeOfFreedomPtr<DegreeOfFreedomT, BodyNodeT>(
        bodyNode->getParentJoint()->getDof(mIndex));
  }
 
  void set(DegreeOfFreedomT* _ptr)
  {
    if (nullptr == _ptr)
    {
      mWeakBodyNode = nullptr;
      mIndex = 0;
      return;
    }
 
    mWeakBodyNode = _ptr->getChildBodyNode();
    mIndex = _ptr->getIndexInJoint();
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  void set(
      const TemplateWeakDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _weakPtr)
  {
    mWeakBodyNode = _weakPtr.mWeakBodyNode;
    mIndex = _weakPtr.mIndex;
  }
 
private:
  TemplateWeakBodyNodePtr<BodyNodeT> mWeakBodyNode;
 
  std::size_t mIndex;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_