StateDefinition.H

Go to the documentation of this file.

/*! @file
    @author Randolph Voorhies (voorhies at usc dot edu)
    @copyright GNU Public License (GPL v3)
    @section License
    @verbatim
    // ////////////////////////////////////////////////////////////////////////
    //              The iLab Neuromorphic Robotics Toolkit (NRT)             //
    // Copyright 2010-2012 by the University of Southern California (USC)    //
    //                          and the iLab at USC.                         //
    //                                                                       //
    //                iLab - University of Southern California               //
    //                Hedco Neurociences Building, Room HNB-10               //
    //                    Los Angeles, Ca 90089-2520 - USA                   //
    //                                                                       //
    //      See http://ilab.usc.edu for information about this project.      //
    // ////////////////////////////////////////////////////////////////////////
    // This file is part of The iLab Neuromorphic Robotics Toolkit.          //
    //                                                                       //
    // The iLab Neuromorphic Robotics Toolkit is free software: you can      //
    // redistribute it and/or modify it under the terms of the GNU General   //
    // Public License as published by the Free Software Foundation, either   //
    // version 3 of the License, or (at your option) any later version.      //
    //                                                                       //
    // The iLab Neuromorphic Robotics Toolkit is distributed in the hope     //
    // that it will be useful, but WITHOUT ANY WARRANTY; without even the    //
    // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR       //
    // PURPOSE.  See the GNU General Public License for more details.        //
    //                                                                       //
    // You should have received a copy of the GNU General Public License     //
    // along with The iLab Neuromorphic Robotics Toolkit.  If not, see       //
    // <http://www.gnu.org/licenses/>.                                       //
    // ////////////////////////////////////////////////////////////////////////
    @endverbatim */


#ifndef INCLUDE_NRT_PROBABILISTIC_TYPES_STATEDEFINITION_H
#define INCLUDE_NRT_PROBABILISTIC_TYPES_STATEDEFINITION_H

#include <boost/preprocessor/seq/for_each.hpp>
#include <boost/preprocessor/seq/for_each_i.hpp>
#include <boost/preprocessor/seq/enum.hpp>
#include <boost/preprocessor/punctuation/comma_if.hpp>
#include <boost/mpl/begin_end.hpp>
#include <boost/mpl/vector.hpp>
#include <boost/mpl/insert_range.hpp>
#include <boost/mpl/at.hpp>
#include <boost/mpl/size.hpp>
#include <boost/mpl/find.hpp>
#include <boost/mpl/contains.hpp>
#include <nrt/Probabilistic/Types/details/StateDefinitionHelpers.H>

/*! Create a State Field Group
    State Field Groups are used to specify the dimensions of a StateDefinition.

    The syntax is as follows:
    @code
    NRT_STATE_FIELD_GROUP(GroupName, (field1)(field2)(field3)(etc));
    @endcode

    This creates a new class called GroupName, which has the following child-classes:
    @code
    GroupName::field1
    GroupName::field2
    GroupName::field3
    GroupName::etc
    @endcode 

    \ingroup probabilistic */
#define NRT_STATE_FIELD_GROUP(StateFieldsName, Fields) \
  NRT_CREATE_STATE_FIELD_GROUP(StateFieldsName, Fields)

namespace nrt
{
  //! A State Definition is a collection of State Field Groups used in a probability distribution
  /*! \tparam FieldGroups A variadic list of NRT_STATE_FIELD_GROUPs that will be included in the State Definition

      @code 
      // Create a State Fields group called Velocity2D that is composed of two elements: vx, and vy
      NRT_STATE_FIELD_GROUP(Position2D,(x)(y));

      // Create a State Fields group called Position2D that is composed of two elements: x, and y
      NRT_STATE_FIELD_GROUP(Velocity2D,(x)(y));

      // Create a new State Definition called "VehicleState" that can be used to keep track of
      // 2D positions and velocities
      typedef StateDefinition<Position2D, Velocity2D> VehicleState;
      @endcode 

      \ingroup probabilistic */
  template<class ...FieldGroups>
  class StateDefinition : public StateDefinitionBase
  {
    public:

      //! A boost::mpl::vector containing a concatenation of all fields
      typedef typename nrt::ConcatenateFields<FieldGroups...>::fields fields;

      //! A boost::mpl::vector containing a concatenation of all groups
      typedef typename nrt::ConcatenateFieldGroups<FieldGroups...>::groups groups;

      //! The total number of fields in this State Definition
      static size_t const num_fields=boost::mpl::size<fields>::value;

      //! Does this State Definition contain the given field?
      template<class Field>
      static constexpr bool contains_field()
      {
        return
          std::is_same
          <
            boost::mpl::bool_<true>,
            typename boost::mpl::contains<fields, Field>::type
            >::value;
      }

      //! Does this State Definition contain the given field group?
      template<class Group>
      static constexpr bool contains_field_group()
      {
        return
          std::is_same
          <
            boost::mpl::bool_<true>,
            typename boost::mpl::contains<groups, Group>::type
            >::value;
      }
  };
}

#endif // INCLUDE_NRT_PROBABILISTIC_TYPES_STATEDEFINITION_H