Program Listing for File Shape.hpp

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/*
 * 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