.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_geometry_ConvexShape.hpp:

Program Listing for File ConvexShape.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_geometry_ConvexShape.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/geometry/ConvexShape.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2019 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   
   #ifndef RMF_TRAFFIC__CONVEXSHAPE_HPP
   #define RMF_TRAFFIC__CONVEXSHAPE_HPP
   
   #include <rmf_traffic/geometry/Shape.hpp>
   
   #include <memory>
   
   namespace rmf_traffic {
   namespace geometry {
   
   class FinalConvexShape;
   
   //==============================================================================
   class ConvexShape : public Shape
   {
   public:
   
     virtual FinalConvexShape finalize_convex() const = 0;
   
   protected:
   
     ConvexShape(std::unique_ptr<Shape::Internal> internal);
   
   };
   
   using ConvexShapePtr = std::shared_ptr<ConvexShape>;
   using ConstConvexShapePtr = std::shared_ptr<const ConvexShape>;
   
   //==============================================================================
   class FinalConvexShape : public FinalShape
   {
   public:
   
     // No API is needed here
   
     class Implementation;
   protected:
     FinalConvexShape();
   };
   
   using FinalConvexShapePtr = std::shared_ptr<FinalConvexShape>;
   using ConstFinalConvexShapePtr = std::shared_ptr<const FinalConvexShape>;
   
   //==============================================================================
   template<typename T, typename... Args>
   FinalConvexShapePtr make_final_convex(Args&& ... args)
   {
     return std::make_shared<FinalConvexShape>(
       T(std::forward<Args>(args)...).finalize_convex());
   }
   
   //==============================================================================
   template<typename T>
   FinalConvexShapePtr make_final_convex(const T& convex)
   {
     return std::make_shared<FinalConvexShape>(convex.finalize_convex());
   }
   
   } // namespace geometry
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__CONVEXSHAPE_HPP