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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_CONTROL_
#define OMPL_CONTROL_CONTROL_

#include <boost/concept_check.hpp>

namespace ompl
{
    namespace control
    {
        /** \brief Definition of an abstract control */
        class Control
        {
        private:
            /** \brief Disable copy-constructor */
            Control(const Control &) = delete;

            /** \brief Disable copy operator */
            const Control &operator=(const Control &) = delete;

        protected:
            Control() = default;

            virtual ~Control() = default;

        public:
            /** \brief Cast this instance to a desired type. */
            template <class T>
            const T *as() const
            {
                /** \brief Make sure the type we are allocating is indeed a state */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));

                return static_cast<const T *>(this);
            }

            /** \brief Cast this instance to a desired type. */
            template <class T>
            T *as()
            {
                /** \brief Make sure the type we are allocating is indeed a state */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));

                return static_cast<T *>(this);
            }
        };

        /** \brief Definition of a compound control */
        class CompoundControl : public Control
        {
        public:
            CompoundControl() = default;

            ~CompoundControl() override = default;

            /** \brief Cast a component of this instance to a desired type. */
            template <class T>
            const T *as(unsigned int index) const
            {
                /** \brief Make sure the type we are allocating is indeed a state */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));

                return static_cast<const T *>(components[index]);
            }

            /** \brief Cast a component of this instance to a desired type. */
            template <class T>
            T *as(unsigned int index)
            {
                /** \brief Make sure the type we are allocating is indeed a state */
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Control *>));

                return static_cast<T *>(components[index]);
            }

            /** \brief Return the i-th control component */
            Control *operator[](unsigned int index)
            {
                return components[index];
            }

            /** \brief The components that make up a compound control */
            Control **components;
        };
    }  // namespace control
}  // namespace ompl
#endif
