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 dart
} // namespace dynamics
 
#endif // DART_DYNAMICS_DETAIL_JOINTPTR_HPP_