InverseKinematicsPtr.hpp

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#ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_HPP_
#define DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_HPP_
 
#include <memory>
#include "dart/dynamics/detail/NodePtr.hpp"
 
namespace dart {
namespace dynamics {
 
template <class IkType, class JacobianNodePtrT>
class TemplateInverseKinematicsPtr
{
public:
 
  template<class, class> friend class TemplateInverseKinematicsPtr;
 
  typedef IkType element_type;
 
  TemplateInverseKinematicsPtr(const std::shared_ptr<element_type>& sptr)
  {
    set(sptr);
  }
 
  TemplateInverseKinematicsPtr(std::nullptr_t)
  {
    // Do nothing
  }
 
  TemplateInverseKinematicsPtr() = default;
 
  template <class OtherIkT, class OtherJacNodePtrT>
  TemplateInverseKinematicsPtr(
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodePtrT>& _ptr)
  {
    set(_ptr.mIK);
  }
 
  operator std::shared_ptr<element_type>() const { return mIK; }
 
  template <class OtherIkT>
  TemplateInverseKinematicsPtr(const std::shared_ptr<OtherIkT>& sptr)
  {
    set(sptr);
  }
 
  template <class OtherIkT, class OtherJacNodePtrT>
  TemplateInverseKinematicsPtr& operator = (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodePtrT>& _ptr)
  {
    set(_ptr.mIK);
    return *this;
  }
 
  template <class SharedPtrT>
  TemplateInverseKinematicsPtr& operator = (const SharedPtrT& _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  TemplateInverseKinematicsPtr& operator = (std::nullptr_t)
  {
    set(nullptr);
    return *this;
  }
 
  operator bool() const { return (nullptr != mIK); }
 
  element_type& operator*() const { return *get(); }
 
  element_type* operator->() const { return get(); }
 
  element_type* get() const
  {
    if(nullptr == mJacNodePtr)
      return nullptr;
 
    return mIK.get();
  }
 
  std::shared_ptr<element_type> get_shared() const
  {
    if(nullptr == mJacNodePtr)
      return nullptr;
 
    return mIK;
  }
 
  void set(const std::shared_ptr<IkType>& sptr)
  {
    if(nullptr == sptr)
    {
      mIK = nullptr;
      mJacNodePtr = nullptr;
      return;
    }
 
    mJacNodePtr = sptr->getAffiliation();
    mIK = sptr;
  }
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  template <class OtherIkT, class OtherJacNodeT>
  bool operator == (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodeT>& _rhs) const
  {
    return (mIK == _rhs.mIK);
  }
 
  template <class OtherIkT, class OtherJacNodeT>
  bool operator != (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodeT>& _rhs) const
  {
    return !( *this == _rhs );
  }
 
  template <class OtherIkT, class OtherJacNodeT>
  bool operator < (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodeT>& _rhs) const
  {
    return (mIK < _rhs.mIK);
  }
 
  template <class OtherIkT, class OtherJacNodeT>
  bool operator > (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodeT>& _rhs) const
  {
    return (mIK > _rhs.mIK);
  }
 
  template <class OtherIkT, class OtherJacNodeT>
  bool operator <= (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodeT>& _rhs) const
  {
    return (*this < _rhs) || (*this == _rhs);
  }
 
  template <class OtherIkT, class OtherJacNodeT>
  bool operator >= (
      const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodeT>& _rhs) const
  {
    return (*this > _rhs) || (*this == _rhs);
  }
 
 
protected:
 
  std::shared_ptr<element_type> mIK;
 
  JacobianNodePtrT mJacNodePtr;
 
};
 
// Comparison to nullptr
template <class IkType, class BodyNodeT>
inline bool operator == (
    const TemplateInverseKinematicsPtr<IkType, BodyNodeT>& _ik, std::nullptr_t)
{
  return nullptr == _ik.get();
}
 
// Comparison to nullptr
template <class IkType, class BodyNodeT>
inline bool operator == (
    std::nullptr_t, const TemplateInverseKinematicsPtr<IkType, BodyNodeT>& _ik)
{
  return nullptr == _ik.get();
}
 
// Comparison to nullptr
template <class IkType, class BodyNodeT>
inline bool operator != (
    const TemplateInverseKinematicsPtr<IkType, BodyNodeT>& _ik, std::nullptr_t)
{
  return nullptr != _ik.get();
}
 
// Comparison to nullptr
template <class IkType, class BodyNodeT>
inline bool operator != (
    std::nullptr_t, const TemplateInverseKinematicsPtr<IkType, BodyNodeT>& _ik)
{
  return nullptr != _ik.get();
}
 
 
template <class InverseKinematicsT, class JacobianNodePtrT>
class TemplateWeakInverseKinematicsPtr
{
public:
 
  template<class, class> friend class TemplateWeakInverseKinematicsPtr;
 
  typedef InverseKinematicsT element_type;
 
  TemplateWeakInverseKinematicsPtr() = default;
 
  template <class PtrType>
  TemplateWeakInverseKinematicsPtr(const PtrType& _ptr)
  {
    set(_ptr);
  }
 
  template <class PtrType>
  TemplateWeakInverseKinematicsPtr& operator = (const PtrType& _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  TemplateInverseKinematicsPtr<InverseKinematicsT, JacobianNodePtrT> lock() const
  {
    JacobianNodePtrT jacNode = mWeakJacNode.lock();
    if(nullptr == jacNode)
      return nullptr;
 
    return TemplateInverseKinematicsPtr<InverseKinematicsT, JacobianNodePtrT>(
          mWeakIK.lock());
  }
 
  template <class OtherIkT, class OtherJacNodePtrT>
  void set(const TemplateInverseKinematicsPtr<OtherIkT, OtherJacNodePtrT>& _ptr)
  {
    if(nullptr == _ptr)
    {
      mWeakIK = nullptr;
      mWeakJacNode = nullptr;
      return;
    }
 
    mWeakIK = _ptr.get();
    mWeakJacNode = _ptr.get()->getEntity();
  }
 
  template <class OtherIkT, class OtherJacNodeT>
  void set(const TemplateWeakInverseKinematicsPtr<
           OtherIkT, OtherJacNodeT>& _ptr)
  {
    mWeakIK = _ptr.mWeakIK;
    mWeakJacNode = _ptr.mWeakJacNode;
  }
 
protected:
 
  std::weak_ptr<InverseKinematicsT> mWeakIK;
 
  JacobianNodePtrT mWeakJacNode;
 
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_HPP_