CompositeNode.hpp

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#ifndef DART_DYNAMICS_COMPOSITENODE_HPP_
#define DART_DYNAMICS_COMPOSITENODE_HPP_
 
#include "dart/common/Composite.hpp"
#include "dart/dynamics/Node.hpp"
 
namespace dart {
namespace dynamics {
 
//==============================================================================
template <class Base>
class CompositeStateNode : public Base
{
public:
 
  using State = Node::MakeState<common::Composite::State>;
 
  template <typename... Args>
  CompositeStateNode(Args&&... args)
    : Base(std::forward<Args>(args)...)
  {
    // Do nothing
  }
 
  // Documentation inherited from Node
  void setNodeState(const Node::State& otherState) override final;
 
  // Documentation inherited from Node
  std::unique_ptr<Node::State> getNodeState() const override final;
 
  // Documentation inherited from Node
  void copyNodeStateTo(
      std::unique_ptr<Node::State>& outputState) const override final;
};
 
//==============================================================================
template <class Base>
class CompositePropertiesNode : public Base
{
public:
 
  using Properties = Node::MakeProperties<common::Composite::Properties>;
 
  template <typename... Args>
  CompositePropertiesNode(Args&&... args)
    : Base(std::forward<Args>(args)...)
  {
    // Do nothing
  }
 
  // Documentation inherited from Node
  void setNodeProperties(
      const Node::Properties& otherProperties) override final;
 
  // Documentation inherited from Node
  std::unique_ptr<Node::Properties> getNodeProperties() const override final;
 
  // Documentation inherited from Node
  void copyNodePropertiesTo(
      std::unique_ptr<Node::Properties>& outputProperties) const override final;
};
 
//==============================================================================
template <class Base>
class CompositeNode : public CompositePropertiesNode<CompositeStateNode<Base> >
{
public:
 
  template <typename... Args>
  CompositeNode(Args&&... args)
    : CompositePropertiesNode<CompositeStateNode<Base>>(
        std::forward<Args>(args)...)
  {
    // Do nothing
  }
 
};
 
} // namespace dynamics
} // namespace dart
 
#include "dart/dynamics/detail/CompositeNode.hpp"
 
#endif // DART_DYNAMICS_COMPOSITENODE_HPP_