DART  6.7.3
EmbeddedAspect.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2019, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_COMMON_EMBEDDEDASPECT_HPP_
34 #define DART_COMMON_EMBEDDEDASPECT_HPP_
35 
39 
40 namespace dart {
41 namespace common {
42 
43 //==============================================================================
50 template <class CompositeT, typename StateDataT>
52  CompositeTrackingAspect<CompositeT>,
53  EmbeddedStateAspect<CompositeT, StateDataT>, StateDataT>
54 {
55 public:
56 
60  using State = typename Impl::State;
61  using StateData = typename Impl::StateData;
62 
63  template <typename... Args>
64  EmbeddedStateAspect(Args&&... args)
65  : Impl(std::forward<Args>(args)...)
66  {
67  // Do nothing
68  }
69 
70  virtual ~EmbeddedStateAspect() = default;
71 
72 };
73 
74 //==============================================================================
90 template <class DerivedT, typename StateDataT>
91 class EmbedState : public virtual common::RequiresAspect<
92  common::EmbeddedStateAspect<DerivedT, StateDataT> >
93 {
94 public:
95 
96  using Derived = DerivedT;
98  using AspectState = typename Aspect::State;
101 
102  // Forwarding constructor
103  template <typename... Args>
104  EmbedState(Args&&... args)
105  : Base(std::forward<Args>(args)...)
106  {
107  // Do nothing
108  }
109 
110  virtual ~EmbedState() = default;
111 
113  {
114  return mAspectState;
115  }
116 
117 protected:
118 
121 
122 };
123 
124 //==============================================================================
128 template <class DerivedT, typename StateDataT, typename... BaseComposites>
130  EmbedState<DerivedT, StateDataT>, BaseComposites...>
131 {
132 public:
133 
135  using Derived = typename Impl::Derived;
137  using AspectState = typename Impl::AspectState;
138  using Aspect = typename Impl::Aspect;
139  using Base = CompositeJoiner<Impl, BaseComposites...>;
140  using Impl::getAspectState;
141 
142  // Forwarding constructor
143  template <typename... Args>
144  EmbedStateOnTopOf(Args&&... args)
145  : Base(NoArg, std::forward<Args>(args)...)
146  {
147  // Do nothing
148  }
149 
150  virtual ~EmbedStateOnTopOf() = default;
151 
152 protected:
153 
154  using Impl::mAspectState;
155 
156 };
157 
158 //==============================================================================
165 template <class CompositeT, typename PropertiesDataT>
167  CompositeTrackingAspect<CompositeT>,
168  EmbeddedPropertiesAspect<CompositeT, PropertiesDataT>, PropertiesDataT>
169 {
170 public:
171 
175  using Properties = typename Impl::Properties;
177 
178  // Forwarding constructor
179  template <typename... Args>
180  EmbeddedPropertiesAspect(Args&&... args)
181  : Impl(std::forward<Args>(args)...)
182  {
183  // Do nothing
184  }
185 
186  virtual ~EmbeddedPropertiesAspect() = default;
187 
188 };
189 
190 //==============================================================================
207 template <class DerivedT, typename PropertiesDataT>
209  common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT> >
210 {
211 public:
212 
213  using Derived = DerivedT;
218 
219  // Forwarding constructor
220  template <typename... Args>
221  EmbedProperties(Args&&... args)
222  : Base(std::forward<Args>(args)...)
223  {
224  // Do nothing
225  }
226 
227  virtual ~EmbedProperties() = default;
228 
230  {
231  return mAspectProperties;
232  }
233 
234 protected:
235 
238 
239 };
240 
241 //==============================================================================
245 template <class DerivedT, typename PropertiesDataT, typename... CompositeBases>
247  EmbedProperties<DerivedT, PropertiesDataT>, CompositeBases...>
248 {
249 public:
250 
252  using Derived = typename Impl::Derived;
255  using Aspect = typename Impl::Aspect;
256  using Base = CompositeJoiner<Impl, CompositeBases...>;
258 
259  // Forwarding constructor
260  template <typename... Args>
261  EmbedPropertiesOnTopOf(Args&&... args)
262  : Base(NoArg, std::forward<Args>(args)...)
263  {
264  // Do nothing
265  }
266 
267  virtual ~EmbedPropertiesOnTopOf() = default;
268 
269 protected:
270 
272 
273 };
274 
275 //==============================================================================
279 //
280 // Dev Note: We achieve "multiple inheritance" without the diamond of death
281 // issue by specifying detail::EmbeddedStateAspect as the base class of
282 // detail::EmbeddedPropertiesAspect. This allows their implementations to stack
283 // on top of each other without the conflict that would arise from both of them
284 // inheriting from common::Aspect.
285 template <class CompositeT, typename StateDataT, typename PropertiesDataT>
288  detail::EmbeddedStateAspect<
289  CompositeTrackingAspect<CompositeT>,
290  EmbeddedStateAndPropertiesAspect<CompositeT, StateDataT, PropertiesDataT>,
291  StateDataT>,
292  EmbeddedStateAndPropertiesAspect<CompositeT, StateDataT, PropertiesDataT>,
293  PropertiesDataT>
294 {
295 public:
296 
298 
301 
303  AspectStateImpl, Derived, PropertiesDataT>;
304 
306 
307  using State = typename AspectStateImpl::State;
309 
312 
313  using CompositeType = CompositeT;
314 
316  const EmbeddedStateAndPropertiesAspect&) = delete;
317 
319 
323  {
324  // Do nothing
325  }
326 
329  const StateData& state)
330  : AspectPropertiesImpl(state)
331  {
332  // Do nothing
333  }
334 
337  const PropertiesData& properties)
339  {
340  // Do nothing
341  }
342 
345  const StateData& state,
346  const PropertiesData& properties)
348  {
349  // Do nothing
350  }
351 
354  const PropertiesData& properties,
355  const StateData& state)
357  {
358  // Do nothing
359  }
360 
361  // Documentation inherited
362  std::unique_ptr<Aspect> cloneAspect() const override
363  {
364  return make_unique<Derived>(this->getState(), this->getProperties());
365  }
366 
367 };
368 
369 //==============================================================================
381 template <class DerivedT, typename StateDataT, typename PropertiesDataT>
383  common::EmbeddedStateAndPropertiesAspect<
384  DerivedT, StateDataT, PropertiesDataT> >
385 {
386 public:
387 
388  using Derived = DerivedT;
390  DerivedT, StateDataT, PropertiesDataT>;
391 
392  using AspectState = typename Aspect::State;
394 
398 
399  // Forwarding constructor
400  template <typename... Args>
401  EmbedStateAndProperties(Args&&... args)
402  : Base(std::forward<Args>(args)...)
403  {
404  // Do nothing
405  }
406 
407  virtual ~EmbedStateAndProperties() = default;
408 
410  {
411  return mAspectState;
412  }
413 
415  {
416  return mAspectProperties;
417  }
418 
419 protected:
420 
423 
426 
427 };
428 
429 //==============================================================================
433 template <class DerivedT, typename StateDataT, typename PropertiesDataT,
434  typename... CompositeBases>
436  EmbedStateAndProperties<DerivedT, StateDataT, PropertiesDataT>,
437  CompositeBases...>
438 {
439 public:
440 
442  using Derived = typename Impl::Derived;
444  using AspectState = typename Impl::AspectState;
447  using Aspect = typename Impl::Aspect;
448  using Impl::getAspectState;
450  using Base = CompositeJoiner<Impl, CompositeBases...>;
451 
452  // Forwarding constructor
453  template <typename... Args>
455  : Base(NoArg, std::forward<Args>(args)...)
456  {
457  // Do nothing
458  }
459 
460  virtual ~EmbedStateAndPropertiesOnTopOf() = default;
461 
462 protected:
463 
464  using Impl::mAspectState;
466 
467 };
468 
469 } // namespace common
470 } // namespace dart
471 
472 #endif // DART_COMMON_EMBEDDEDASPECT_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:248
EmbedPropertiesOnTopOf(Args &&... args)
Definition: EmbeddedAspect.hpp:261
EmbedProperties< DerivedT, PropertiesDataT > Impl
Definition: EmbeddedAspect.hpp:251
typename Impl::Derived Derived
Definition: EmbeddedAspect.hpp:252
typename Impl::AspectPropertiesData AspectPropertiesData
Definition: EmbeddedAspect.hpp:253
typename Impl::Aspect Aspect
Definition: EmbeddedAspect.hpp:255
virtual ~EmbedPropertiesOnTopOf()=default
typename Impl::AspectProperties AspectProperties
Definition: EmbeddedAspect.hpp:254
Inherit this class to embed Properties into your Composite object.
Definition: EmbeddedAspect.hpp:210
const AspectProperties & getAspectProperties() const
Definition: EmbeddedAspect.hpp:229
AspectProperties mAspectProperties
Aspect::Properties data, directly accessible to your derived class.
Definition: EmbeddedAspect.hpp:237
typename Aspect::PropertiesData AspectPropertiesData
Definition: EmbeddedAspect.hpp:216
DerivedT Derived
Definition: EmbeddedAspect.hpp:213
typename Aspect::Properties AspectProperties
Definition: EmbeddedAspect.hpp:215
EmbedProperties(Args &&... args)
Definition: EmbeddedAspect.hpp:221
common::EmbeddedPropertiesAspect< Derived, PropertiesDataT > Aspect
Definition: EmbeddedAspect.hpp:214
virtual ~EmbedProperties()=default
This is an alternative to EmbedStateAndProperties which allows your class to also inherit other Compo...
Definition: EmbeddedAspect.hpp:438
typename Impl::AspectState AspectState
Definition: EmbeddedAspect.hpp:444
typename Impl::Derived Derived
Definition: EmbeddedAspect.hpp:442
EmbedStateAndPropertiesOnTopOf(Args &&... args)
Definition: EmbeddedAspect.hpp:454
typename Impl::Aspect Aspect
Definition: EmbeddedAspect.hpp:447
typename Impl::AspectStateData AspectStateData
Definition: EmbeddedAspect.hpp:443
EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT > Impl
Definition: EmbeddedAspect.hpp:441
typename Impl::AspectPropertiesData AspectPropertiesData
Definition: EmbeddedAspect.hpp:445
typename Impl::AspectProperties AspectProperties
Definition: EmbeddedAspect.hpp:446
Inherit this class to embed both State and Properties into your Composite object.
Definition: EmbeddedAspect.hpp:385
typename Aspect::Properties AspectProperties
Definition: EmbeddedAspect.hpp:395
const AspectProperties & getAspectProperties() const
Definition: EmbeddedAspect.hpp:414
AspectState mAspectState
Aspect::State data, directly accessible to your derived class.
Definition: EmbeddedAspect.hpp:422
virtual ~EmbedStateAndProperties()=default
DerivedT Derived
Definition: EmbeddedAspect.hpp:388
const AspectState & getAspectState() const
Definition: EmbeddedAspect.hpp:409
common::EmbeddedStateAndPropertiesAspect< DerivedT, StateDataT, PropertiesDataT > Aspect
Definition: EmbeddedAspect.hpp:390
typename Aspect::StateData AspectStateData
Definition: EmbeddedAspect.hpp:393
AspectProperties mAspectProperties
Aspect::Properties data, directly accessible to your derived class.
Definition: EmbeddedAspect.hpp:425
typename Aspect::State AspectState
Definition: EmbeddedAspect.hpp:392
EmbedStateAndProperties(Args &&... args)
Definition: EmbeddedAspect.hpp:401
typename Aspect::PropertiesData AspectPropertiesData
Definition: EmbeddedAspect.hpp:396
This is an alternative to EmbedState which allows your class to also inherit other Composite objects ...
Definition: EmbeddedAspect.hpp:131
typename Impl::Aspect Aspect
Definition: EmbeddedAspect.hpp:138
EmbedStateOnTopOf(Args &&... args)
Definition: EmbeddedAspect.hpp:144
typename Impl::AspectStateData AspectStateData
Definition: EmbeddedAspect.hpp:136
virtual ~EmbedStateOnTopOf()=default
typename Impl::AspectState AspectState
Definition: EmbeddedAspect.hpp:137
typename Impl::Derived Derived
Definition: EmbeddedAspect.hpp:135
EmbedState< DerivedT, StateDataT > Impl
Definition: EmbeddedAspect.hpp:134
Inherit this class to embed a State into your Composite object.
Definition: EmbeddedAspect.hpp:93
DerivedT Derived
Definition: EmbeddedAspect.hpp:96
typename Aspect::StateData AspectStateData
Definition: EmbeddedAspect.hpp:99
AspectState mAspectState
Aspect::State data, directly accessible to your derived class.
Definition: EmbeddedAspect.hpp:120
EmbedState(Args &&... args)
Definition: EmbeddedAspect.hpp:104
virtual ~EmbedState()=default
const AspectState & getAspectState() const
Definition: EmbeddedAspect.hpp:112
common::EmbeddedStateAspect< Derived, StateDataT > Aspect
Definition: EmbeddedAspect.hpp:97
typename Aspect::State AspectState
Definition: EmbeddedAspect.hpp:98
This is the implementation of a standard embedded-properties Aspect.
Definition: EmbeddedAspect.hpp:169
EmbeddedPropertiesAspect(Args &&... args)
Definition: EmbeddedAspect.hpp:180
typename Impl::Properties Properties
Definition: EmbeddedAspect.hpp:175
typename Impl::PropertiesData PropertiesData
Definition: EmbeddedAspect.hpp:176
This is the implementation of a standard combination of embedded-state and embedded-properties Aspect...
Definition: EmbeddedAspect.hpp:294
typename AspectStateImpl::StateData StateData
Definition: EmbeddedAspect.hpp:308
EmbeddedStateAndPropertiesAspect()
Construct using nothing. The object will remain unaffected.
Definition: EmbeddedAspect.hpp:321
EmbeddedStateAndPropertiesAspect(const StateData &state)
Construct using a State. The object's Properties will remain unaffected.
Definition: EmbeddedAspect.hpp:328
typename AspectStateImpl::State State
Definition: EmbeddedAspect.hpp:307
EmbeddedStateAndPropertiesAspect(const PropertiesData &properties, const StateData &state)
Construct using a Properties and State instance.
Definition: EmbeddedAspect.hpp:353
std::unique_ptr< Aspect > cloneAspect() const override
Clone this Aspect into a new composite.
Definition: EmbeddedAspect.hpp:362
EmbeddedStateAndPropertiesAspect(const StateData &state, const PropertiesData &properties)
Construct using a State and Properties instance.
Definition: EmbeddedAspect.hpp:344
CompositeT CompositeType
Definition: EmbeddedAspect.hpp:313
detail::EmbeddedStateAspect< CompositeTrackingAspect< CompositeT >, Derived, StateDataT > AspectStateImpl
Definition: EmbeddedAspect.hpp:300
typename AspectPropertiesImpl::PropertiesData PropertiesData
Definition: EmbeddedAspect.hpp:311
EmbeddedStateAndPropertiesAspect< CompositeT, StateDataT, PropertiesDataT > Derived
Definition: EmbeddedAspect.hpp:297
typename AspectPropertiesImpl::Properties Properties
Definition: EmbeddedAspect.hpp:310
EmbeddedStateAndPropertiesAspect(const EmbeddedStateAndPropertiesAspect &)=delete
EmbeddedStateAndPropertiesAspect(const PropertiesData &properties)
Construct using Properties. The object's State will remain unaffected.
Definition: EmbeddedAspect.hpp:336
This is the implementation of a standard embedded-state Aspect.
Definition: EmbeddedAspect.hpp:54
typename Impl::State State
Definition: EmbeddedAspect.hpp:60
EmbeddedStateAspect(Args &&... args)
Definition: EmbeddedAspect.hpp:64
virtual ~EmbeddedStateAspect()=default
typename Impl::StateData StateData
Definition: EmbeddedAspect.hpp:61
RequiresAspect allows classes that inherit Composite to know which Aspects are required for their ope...
Definition: RequiresAspect.hpp:48
Definition: EmbeddedAspect.hpp:250
PropertiesDataT PropertiesData
Definition: EmbeddedAspect.hpp:260
PropertiesT Properties
Definition: EmbeddedAspect.hpp:259
Definition: EmbeddedAspect.hpp:79
StateDataT StateData
Definition: EmbeddedAspect.hpp:85
StateT State
Definition: EmbeddedAspect.hpp:84
@ NoArg
Definition: Empty.hpp:45
Definition: BulletCollisionDetector.cpp:63
Definition: SharedLibraryManager.hpp:43