SpecializedNodeManager.hpp

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#ifndef DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
#define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
 
#include "dart/common/Virtual.hpp"
#include "dart/dynamics/detail/BasicNodeManager.hpp"
#include "dart/dynamics/NodeManagerJoiner.hpp"
 
namespace dart {
namespace dynamics {
 
class BodyNode;
class Skeleton;
 
//==============================================================================
template <class... OtherSpecNodes>
class BodyNodeSpecializedFor { };
 
//==============================================================================
template <class SpecNode>
class BodyNodeSpecializedFor<SpecNode> :
    public virtual detail::BasicNodeManagerForBodyNode
{
public:
 
  BodyNodeSpecializedFor();
 
  template <class NodeType>
  std::size_t getNumNodes() const;
 
  template <class NodeType>
  NodeType* getNode(std::size_t index);
 
  template <class NodeType>
  const NodeType* getNode(std::size_t index) const;
 
  template <class NodeType>
  static constexpr bool isSpecializedForNode();
 
protected:
 
  template <class NodeType>
  std::size_t _getNumNodes(type<NodeType>) const;
 
  std::size_t _getNumNodes(type<SpecNode>) const;
 
  template <class NodeType>
  NodeType* _getNode(type<NodeType>, std::size_t index);
 
  SpecNode* _getNode(type<SpecNode>, std::size_t index);
 
  template <class NodeType>
  static constexpr bool _isSpecializedForNode(type<NodeType>);
 
  static constexpr bool _isSpecializedForNode(type<SpecNode>);
 
  BasicNodeManagerForBodyNode::NodeMap::iterator mSpecNodeIterator;
 
};
 
//==============================================================================
template <class SpecNode1, class... OtherSpecNodes>
class BodyNodeSpecializedFor<SpecNode1, OtherSpecNodes...> :
    public NodeManagerJoinerForBodyNode<
      common::Virtual< BodyNodeSpecializedFor<SpecNode1> >,
      common::Virtual< BodyNodeSpecializedFor<OtherSpecNodes...> > > { };
 
//==============================================================================
template <class... OtherSpecNodes>
class SkeletonSpecializedFor { };
 
//==============================================================================
template <class SpecNode>
class SkeletonSpecializedFor<SpecNode> :
    public virtual detail::BasicNodeManagerForSkeleton,
    public virtual BodyNodeSpecializedFor<SpecNode>
{
public:
 
  using BodyNodeSpecializedFor<SpecNode>::getNode;
  using BodyNodeSpecializedFor<SpecNode>::getNumNodes;
  using BodyNodeSpecializedFor<SpecNode>::isSpecializedForNode;
 
  SkeletonSpecializedFor();
 
  template <class NodeType>
  std::size_t getNumNodes(std::size_t treeIndex) const;
 
  template <class NodeType>
  NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex);
 
  template <class NodeType>
  const NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex) const;
 
  template <class NodeType>
  NodeType* getNode(const std::string& name);
 
  template <class NodeType>
  const NodeType* getNode(const std::string& name) const;
 
  template <class T>
  static constexpr bool isSpecializedForNode();
 
protected:
 
  template <class NodeType>
  std::size_t _getNumNodes(type<NodeType>, std::size_t treeIndex) const;
 
  std::size_t _getNumNodes(type<SpecNode>, std::size_t treeIndex) const;
 
  template <class NodeType>
  NodeType* _getNode(type<NodeType>, std::size_t treeIndex, std::size_t nodeIndex);
 
  SpecNode* _getNode(type<SpecNode>, std::size_t treeIndex, std::size_t nodeIndex);
 
  template <class NodeType>
  NodeType* _getNode(type<NodeType>, const std::string& name);
 
  SpecNode* _getNode(type<SpecNode>, const std::string& name);
 
  template <class T>
  static constexpr bool _isSpecializedForNode(type<T>);
 
  static constexpr bool _isSpecializedForNode(type<SpecNode>);
 
  std::vector<BasicNodeManagerForBodyNode::NodeMap::iterator> mTreeSpecNodeIterators;
 
  NodeNameMgrMap::iterator mSpecNodeNameMgrIterator;
 
};
 
//==============================================================================
template <class SpecNode1, class... OtherSpecNodes>
class SkeletonSpecializedFor<SpecNode1, OtherSpecNodes...> :
    public NodeManagerJoinerForSkeleton<
      common::Virtual< SkeletonSpecializedFor<SpecNode1> >,
      common::Virtual< SkeletonSpecializedFor<OtherSpecNodes...> > > { };
 
} // namespace dynamics
} // namespace dart
 
#include "dart/dynamics/detail/SpecializedNodeManager.hpp"
 
#endif // DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_