GenericLoader.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/Configuration.h>
#include <mc_rtc/logging.h>
#include <mc_solver/QPSolver.h>
 
namespace mc_solver
{
 
template<typename Derived, typename T>
struct GenericLoader
{
  using T_ptr = std::shared_ptr<T>;
 
  using load_fun = std::function<T_ptr(mc_solver::QPSolver &, const mc_rtc::Configuration &)>;
 
  using storage_t = std::map<std::string, load_fun>;
 
  struct Handle
  {
    Handle() = default;
    Handle(const std::string & type);
    ~Handle();
    Handle(const Handle &) = delete;
    Handle & operator=(const Handle &) = delete;
    Handle(Handle && h);
    Handle & operator=(Handle && h);
 
  private:
    std::string type_ = "";
  };
 
  static Handle register_load_function(const std::string & type, load_fun fn);
 
  static void unregister_load_function(const std::string & type);
 
  static T_ptr load(mc_solver::QPSolver & solver, const std::string & file);
 
  static T_ptr load(mc_solver::QPSolver & solver, const char * file);
 
  static T_ptr load(mc_solver::QPSolver & solver, const mc_rtc::Configuration & config);
 
  template<typename U,
           typename std::enable_if<(!std::is_same<U, T>::value) && std::is_base_of<T, U>::value, int>::type = 0>
  static std::shared_ptr<U> load(mc_solver::QPSolver & solver, const std::string & file);
 
  template<typename U,
           typename std::enable_if<(!std::is_same<U, T>::value) && std::is_base_of<T, U>::value, int>::type = 0>
  static std::shared_ptr<U> load(mc_solver::QPSolver & solver, const char * file);
 
  template<typename U,
           typename std::enable_if<(!std::is_same<U, T>::value) && std::is_base_of<T, U>::value, int>::type = 0>
  static std::shared_ptr<U> load(mc_solver::QPSolver & solver, const mc_rtc::Configuration & config);
 
private:
  template<typename U>
  static std::shared_ptr<U> cast(const T_ptr & p);
 
  static storage_t & get_fns();
};
 
} // namespace mc_solver
 
#include "GenericLoader.hpp"