.. _program_listing_file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_geometry_Shape.hpp:

Program Listing for File Shape.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_traffic_rmf_traffic_include_rmf_traffic_geometry_Shape.hpp>` (``/tmp/ws/src/rmf_traffic/rmf_traffic/include/rmf_traffic/geometry/Shape.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__GEOMETRY__SHAPE_HPP
   #define RMF_TRAFFIC__GEOMETRY__SHAPE_HPP
   
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <functional>
   #include <memory>
   
   namespace rmf_traffic {
   namespace geometry {
   
   class FinalShape;
   
   //==============================================================================
   class Shape
   {
   public:
   
     virtual FinalShape finalize() const = 0;
   
     // Abstract shape references must not be moved, because we cannot ensure that
     // they get moved into the same derived type.
     Shape(Shape&&) = delete;
     Shape& operator=(Shape&&) = delete;
   
     class Internal;
     virtual ~Shape();
   
   protected:
   
     Internal* _get_internal();
   
     const Internal* _get_internal() const;
   
     Shape(std::unique_ptr<Internal> internal);
   
   private:
   
     std::unique_ptr<Internal> _internal;
   
   };
   
   using ShapePtr = std::shared_ptr<Shape>;
   using ConstShapePtr = std::shared_ptr<const Shape>;
   
   //==============================================================================
   class FinalShape
   {
   public:
   
     const Shape& source() const;
   
     double get_characteristic_length() const;
   
     virtual ~FinalShape() = default;
   
     bool operator==(const FinalShape& other) const;
   
     bool operator!=(const FinalShape& other) const;
   
     class Implementation;
   protected:
     FinalShape();
     rmf_utils::impl_ptr<Implementation> _pimpl;
   };
   
   using FinalShapePtr = std::shared_ptr<FinalShape>;
   using ConstFinalShapePtr = std::shared_ptr<const FinalShape>;
   
   //==============================================================================
   template<typename T, typename... Args>
   FinalShapePtr make_final(Args&& ... args)
   {
     return std::make_shared<FinalShape>(
       T(std::forward<Args>(args)...).finalize());
   }
   
   //==============================================================================
   template<typename T>
   FinalShapePtr make_final(const T& shape)
   {
     return std::make_shared<FinalShape>(shape.finalize());
   }
   
   } // namespace geometry
   } // namespace rmf_traffic
   
   #endif // RMF_TRAFFIC__GEOMETRY__SHAPE_HPP