shared.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <memory>
#include <type_traits>
 
namespace mc_rtc
{
 
template<typename T, typename BaseT = void>
struct shared : public std::conditional<std::is_same<BaseT, void>::value, std::enable_shared_from_this<T>, BaseT>::type
{
  static_assert(std::is_same<BaseT, void>::value || std::is_base_of<shared<BaseT>, BaseT>::value,
                "shared<T, BaseT> requires a void base or a base that derives from shared<BaseT>");
  operator std::shared_ptr<T>() { return std::static_pointer_cast<T>(static_cast<T *>(this)->shared_from_this()); }
 
  operator std::shared_ptr<const T>() const
  {
    return std::static_pointer_cast<const T>(static_cast<const T *>(this)->shared_from_this());
  }
 
  using ActualBase =
      typename std::conditional<std::is_same<BaseT, void>::value, std::enable_shared_from_this<T>, BaseT>::type;
  using ActualBase::ActualBase;
};
 
} // namespace mc_rtc