DART  6.7.3
ProxyAspect.hpp
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32 
33 #ifndef DART_COMMON_DETAIL_PROXYASPECT_HPP_
34 #define DART_COMMON_DETAIL_PROXYASPECT_HPP_
35 
36 #include "dart/common/Aspect.hpp"
37 
38 namespace dart {
39 namespace common {
40 namespace detail {
41 
42 //==============================================================================
43 template <class BaseT, class CompositeT, typename StateT>
44 class ProxyStateAspect : public BaseT
45 {
46 public:
47 
48  using Base = BaseT;
49  using CompositeType = CompositeT;
50  using State = StateT;
51 
52  virtual ~ProxyStateAspect() = default;
53 
55  template <typename... Args>
56  ProxyStateAspect(Args&&... args)
57  : Base(std::forward<Args>(args)...),
58  mProxyState()
59  {
60  // Do nothing
61  }
62 
63  // Documentation inherited
64  void setAspectState(const Aspect::State& state) override final
65  {
66  mProxyState.set(static_cast<const State&>(state));
67  }
68 
69  // Documentation inherited
70  const Aspect::State* getAspectState() const override final
71  {
72  return &mProxyState;
73  }
74 
75  // Documentation inherited
76  std::unique_ptr<Aspect> cloneAspect() const override
77  {
78  return make_unique<ProxyStateAspect>();
79  }
80 
81 protected:
82 
84  void setComposite(Composite* newComposite) override
85  {
86  Base::setComposite(newComposite);
87 
88  // Check if the Composite is the correct Owner type
89  typename State::Owner* owner =
90  dynamic_cast<typename State::Owner*>(newComposite);
91 
92  if(owner && mProxyState.getOwner() != owner)
93  {
94  // Link the ProxyState to its new owner
95  mProxyState = State(owner, mProxyState.get());
96  }
97  }
98 
100  void loseComposite(Composite* oldComposite) override
101  {
102  mProxyState = State(mProxyState.get());
103  Base::loseComposite(oldComposite);
104  }
105 
108 
109 };
110 
111 //==============================================================================
112 template <class BaseT, class CompositeT, typename PropertiesT>
113 class ProxyPropertiesAspect : public BaseT
114 {
115 public:
116 
117  using Base = BaseT;
118  using CompositeType = CompositeT;
119  using Properties = PropertiesT;
120 
121  virtual ~ProxyPropertiesAspect() = default;
122 
124  template <typename... Args>
125  ProxyPropertiesAspect(Args&&... args)
126  : Base(std::forward<Args>(args)...),
128  {
129  // Do nothing
130  }
131 
132  // Documentation inherited
134  {
135  mProxyProperties.set(static_cast<const Properties&>(properties));
136  }
137 
138  // Documentation inherited
139  const Aspect::Properties* getAspectProperties() const override final
140  {
141  return &mProxyProperties;
142  }
143 
144  // Documentation inherited
145  std::unique_ptr<Aspect> cloneAspect() const override
146  {
147  return make_unique<ProxyPropertiesAspect>();
148  }
149 
150 protected:
151 
153  void setComposite(Composite* newComposite) override
154  {
155  Base::setComposite(newComposite);
156  typename Properties::Owner* owner =
157  dynamic_cast<typename Properties::Owner*>(newComposite);
158 
159  if(owner && mProxyProperties.getOwner() != owner)
160  {
161  // Link the ProxyProperties to its new owner
163  }
164  }
165 
167  void loseComposite(Composite* oldComposite) override
168  {
170  Base::loseComposite(oldComposite);
171  }
172 
175 
176 };
177 
178 } // namespace detail
179 } // namespace common
180 } // namespace dart
181 
182 #endif // DART_COMMON_DETAIL_PROXYASPECT_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
If your Aspect has Properties, then that Properties class should inherit this Aspect::Properties clas...
Definition: Aspect.hpp:83
If your Aspect has a State, then that State class should inherit this Aspect::State class.
Definition: Aspect.hpp:64
Composite is a base class that should be virtually inherited by any class that wants to be able to ma...
Definition: Composite.hpp:52
Definition: ProxyAspect.hpp:114
ProxyPropertiesAspect(Args &&... args)
General constructor.
Definition: ProxyAspect.hpp:125
CompositeT CompositeType
Definition: ProxyAspect.hpp:118
std::unique_ptr< Aspect > cloneAspect() const override
Definition: ProxyAspect.hpp:145
PropertiesT Properties
Definition: ProxyAspect.hpp:119
void setAspectProperties(const Aspect::Properties &properties) override final
Definition: ProxyAspect.hpp:133
Properties mProxyProperties
Proxy properties for this Aspect.
Definition: ProxyAspect.hpp:174
void loseComposite(Composite *oldComposite) override
Reconfigure the Aspect to unlink it from this Aspect's old Composite.
Definition: ProxyAspect.hpp:167
BaseT Base
Definition: ProxyAspect.hpp:117
void setComposite(Composite *newComposite) override
Reconfigure the Aspect to link it to this Aspect's new Composite.
Definition: ProxyAspect.hpp:153
const Aspect::Properties * getAspectProperties() const override final
Definition: ProxyAspect.hpp:139
Definition: ProxyAspect.hpp:45
const Aspect::State * getAspectState() const override final
Definition: ProxyAspect.hpp:70
ProxyStateAspect(Args &&... args)
General constructor.
Definition: ProxyAspect.hpp:56
void setAspectState(const Aspect::State &state) override final
Definition: ProxyAspect.hpp:64
void setComposite(Composite *newComposite) override
Reconfigure the Aspect to link it to this Aspect's new Composite.
Definition: ProxyAspect.hpp:84
void loseComposite(Composite *oldComposite) override
Reconfigure the Aspect to unlink it from this Aspect's old Composite.
Definition: ProxyAspect.hpp:100
BaseT Base
Definition: ProxyAspect.hpp:48
CompositeT CompositeType
Definition: ProxyAspect.hpp:49
StateT State
Definition: ProxyAspect.hpp:50
std::unique_ptr< Aspect > cloneAspect() const override
Definition: ProxyAspect.hpp:76
State mProxyState
Proxy state for this Aspect.
Definition: ProxyAspect.hpp:107
Definition: BulletCollisionDetector.cpp:63
Definition: SharedLibraryManager.hpp:43