DART  6.6.2
AspectWithVersion.hpp
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32 
33 #ifndef DART_COMMON_ASPECTWITHVERSION_HPP_
34 #define DART_COMMON_ASPECTWITHVERSION_HPP_
35 
37 
38 namespace dart {
39 namespace common {
40 
41 //==============================================================================
42 template <class DerivedT,
43  typename StateDataT,
44  class CompositeT = Composite,
45  void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*> >
47  detail::AspectWithState<CompositeTrackingAspect<CompositeT>, DerivedT, StateDataT, CompositeT, updateState>;
48 
49 //==============================================================================
50 template <class DerivedT,
51  typename PropertiesDataT,
52  class CompositeT = Composite,
53  void (*updateProperties)(DerivedT*) = &detail::NoOp<DerivedT*> >
55  detail::AspectWithVersionedProperties<CompositeTrackingAspect<CompositeT>, DerivedT, PropertiesDataT, CompositeT, updateProperties>;
56 
57 //==============================================================================
58 template <class DerivedT,
59  typename StateDataT,
60  typename PropertiesDataT,
61  class CompositeT = Composite,
62  void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*>,
63  void (*updateProperties)(DerivedT*) = updateState>
67  DerivedT, PropertiesDataT, CompositeT, updateProperties>
68 {
69 public:
70 
71  using Derived = DerivedT;
72  using StateData = StateDataT;
73  using PropertiesData = PropertiesDataT;
74  using CompositeType = CompositeT;
77  constexpr static void (*UpdateState)(Derived*) = updateState;
78  constexpr static void (*UpdateProperties)(Derived*) = updateProperties;
79 
81  Derived, StateData, CompositeType, updateState>;
82 
85  Derived, PropertiesData, CompositeType, updateProperties>;
86 
88  DerivedT, StateDataT, PropertiesDataT, CompositeT,
89  updateState, updateProperties>;
90 
94 
97  const StateData& state = StateData(),
100  {
101  // Do nothing
102  }
103 
106  const PropertiesData& properties,
107  const StateData& state = StateData())
109  {
110  // Do nothing
111  }
112 
113  // Documentation inherited
114  std::unique_ptr<Aspect> cloneAspect() const override
115  {
116  return make_unique<Derived>(this->getState(), this->getProperties());
117  }
118 
119 };
120 
121 //==============================================================================
122 //
123 // These namespace-level definitions are required to enable ODR-use of static
124 // constexpr member variables.
125 //
126 // See this StackOverflow answer: http://stackoverflow.com/a/14396189/111426
127 //
128 template <class DerivedT,
129  typename StateDataT,
130  typename PropertiesDataT,
131  class CompositeT,
132  void (*updateState)(DerivedT*),
133  void (*updateProperties)(DerivedT*)>
134 constexpr void (*AspectWithStateAndVersionedProperties<DerivedT, StateDataT,
135  PropertiesDataT, CompositeT, updateState, updateProperties>::UpdateState)
136  (DerivedT*);
137 
138 //==============================================================================
139 template <class DerivedT,
140  typename StateDataT,
141  typename PropertiesDataT,
142  class CompositeT,
143  void (*updateState)(DerivedT*),
144  void (*updateProperties)(DerivedT*)>
145 constexpr void (*AspectWithStateAndVersionedProperties<DerivedT, StateDataT,
146  PropertiesDataT, CompositeT, updateState, updateProperties>::UpdateProperties)
147  (DerivedT*);
148 
149 } // namespace common
150 } // namespace dart
151 
152 #endif // DART_COMMON_ASPECTWITHVERSION_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
Definition: AspectWithVersion.hpp:68
AspectWithStateAndVersionedProperties(const StateData &state=StateData(), const PropertiesData &properties=PropertiesData())
Construct using a StateData and a PropertiesData instance.
Definition: AspectWithVersion.hpp:96
StateDataT StateData
Definition: AspectWithVersion.hpp:72
AspectWithStateAndVersionedProperties(const AspectWithStateAndVersionedProperties &)=delete
std::unique_ptr< Aspect > cloneAspect() const override
Definition: AspectWithVersion.hpp:114
DerivedT Derived
Definition: AspectWithVersion.hpp:71
PropertiesDataT PropertiesData
Definition: AspectWithVersion.hpp:73
AspectWithStateAndVersionedProperties(const PropertiesData &properties, const StateData &state=StateData())
Construct using a PropertiesData and a StateData instance.
Definition: AspectWithVersion.hpp:105
CompositeT CompositeType
Definition: AspectWithVersion.hpp:74
Composite is a base class that should be virtually inherited by any class that wants to be able to ma...
Definition: Composite.hpp:52
The MakeCloneable class is used to easily create an Cloneable (such as Node::State) which simply take...
Definition: Cloneable.hpp:85
AspectWithProtectedState generates implementations of the State managing functions for an Aspect clas...
Definition: AspectWithVersion.hpp:51
AspectWithProtectedProperties generates implementations of the Property managing functions for an Asp...
Definition: AspectWithVersion.hpp:107
Definition: BulletCollisionDetector.cpp:63