RequestEngine.hh

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/*
 * Copyright (C) 2018 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 GZ_PHYSICS_REQUESTENGINE_HH_
#define GZ_PHYSICS_REQUESTENGINE_HH_
 
#include <memory>
#include <set>
#include <string>
 
#include <gz/physics/FeatureList.hh>
 
namespace gz
{
  namespace physics
  {
    template <typename FeaturePolicyT, typename FeatureListT>
    struct RequestEngine
    {
      // Forward declaration of the Engine type that will be returned
      using EnginePtrType = EnginePtr<FeaturePolicyT, FeatureListT>;
 
      // Tuple of features that are being requested
      using Features = FeatureListT;
 
      template <typename PtrT>
      static EnginePtrType From(
          const PtrT &_pimpl,
          const std::size_t _engineID = 0);
 
      template <typename PtrT>
      static bool Verify(const PtrT &_pimpl);
 
      template <typename PtrT>
      static std::set<std::string> MissingFeatureNames(const PtrT &_pimpl);
    };
 
#define GZ_PHYSICS_REQUEST_FEATURES_MACRO(X) \
  template <typename FeatureList> \
  using RequestEngine ## X = \
      RequestEngine<FeaturePolicy ## X, FeatureList>;
 
    GZ_PHYSICS_REQUEST_FEATURES_MACRO(3d)
    GZ_PHYSICS_REQUEST_FEATURES_MACRO(2d)
    GZ_PHYSICS_REQUEST_FEATURES_MACRO(3f)
    GZ_PHYSICS_REQUEST_FEATURES_MACRO(2f)
  }
}
 
#include <gz/physics/detail/RequestEngine.hh>
 
#endif