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metaprogramming.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT 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.                                   |
   |                                                                           |
   |   MRPT 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 MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef metaprogramming_H
#define metaprogramming_H

#include <mrpt/utils/CSerializable.h>

namespace mrpt
{
        namespace utils
        {
                /** A set of utility objects for metaprogramming with STL algorithms.
                  */
                namespace metaprogramming
                {
                        /** An object for deleting pointers (intended for STL algorithms) */
                        struct ObjectDelete {
                                template<typename T>
                                inline void operator()(const T *ptr) {
                                        delete ptr;
                                }
                        };

                        /** A function which deletes a container of pointers. */
                        template<typename T> inline void DeleteContainer(T &container)  {
                                for_each(container.begin(),container.end(),ObjectDelete());
                        }

                        //NOTE: when using this algorithm with for_each, replace the whole line with:
                        //      for_each(bypassPointer(<beginning iterator>),bypassPointer(<ending iterator>),mem_fun_ref(&<NonPointerBaseClass>::clear)).
                        /** An object for clearing an object (invokes its method "->clear()") given a pointer or smart-pointer, intended for being used in STL algorithms. */
                        struct ObjectClear {
                                template<typename T>
                                inline void operator()(T &ptr) {
                                        ptr->clear();
                                }
                        };

                        //NOTE: replace this with mem_fun_ref(&<BaseClass>::clear).
                        /** An object for clearing an object (invokes its method ".clear()") given a pointer or smart-pointer, intended for being used in STL algorithms. */
                        struct ObjectClear2 {
                                template<typename T>
                                inline void operator()(T &ptr){
                                        ptr.clear();
                                }
                        };

                        /** An object for clearing an object->second (invokes its method "clear()") given a pointer or smart-pointer, intended for being used in STL algorithms. */
                        struct ObjectClearSecond {
                                template<typename T>
                                inline void operator()(T obj) {
                                        obj.second.clear();
                                }
                        };

                        /** An object for transforming between types/classes, intended for being used in STL algorithms.
                          *  Example of usage:
                          *   \code
                          *     vector_int      v1(10);  // Input
                          *     vector_double   v2(10);  // Output
                          *     std::transform(v1.begin(),v1.end(), v2.begin(), ObjectConvert<double> );
                          *   \endcode
                          */
                        template <typename TARGET_TYPE>
                        struct ObjectConvert {
                                template<typename T>
                                inline TARGET_TYPE operator()(const T &val) {
                                        return TARGET_TYPE(val);
                                }
                        };

                        //NOTE: replace with mem_fun_ref(&CSerializable::make_unique)
                        /** An object for making smart pointers unique (ie, making copies if necessary), intended for being used in STL algorithms. */
                        struct ObjectMakeUnique {
                                typedef mrpt::utils::CObjectPtr argument_type;
                                typedef void result_type;
                                inline void operator()(mrpt::utils::CObjectPtr &ptr) {
                                        ptr.make_unique();
                                }
                        };

                        /** An object for making smart pointers unique (ie, making copies if necessary), intended for being used in STL algorithms. */
                        struct ObjectPairMakeUnique {
                                template <typename T>
                                inline void operator()(T &ptr) {
                                        ptr.first.make_unique();
                                        ptr.second.make_unique();
                                }
                        };

                        //NOTE: replace with mem_fun_ref(&CSerializable::clear_unique)
                        /** An object for making smart pointers unique (ie, making copies if necessary), intended for being used in STL algorithms. */
                        struct ObjectClearUnique {
                                typedef mrpt::utils::CObjectPtr argument_type;
                                typedef void result_type;
                                inline void operator()(mrpt::utils::CObjectPtr &ptr)
                                {
                                        ptr.clear_unique();
                                }
                        };

                        /** An object for reading objects from a stream, intended for being used in STL algorithms. */
                        struct ObjectReadFromStream
                        {
                        private:
                                CStream         *m_stream;
                        public:
                                inline ObjectReadFromStream(CStream *stream) : m_stream(stream) {  }

                                // T can be CSerializablePtr, CSerializable, or any other class implementing ">>"
                                template <typename T>
                                inline void operator()(T &obj)
                                {
                                        (*m_stream) >> obj;
                                }
                        };

                        /** An object for writing objects to a stream, intended for being used in STL algorithms. */
                        struct ObjectWriteToStream
                        {
                        private:
                                CStream         *m_stream;
                        public:
                                inline ObjectWriteToStream(CStream *stream) : m_stream(stream) {  }

                                // T can be CSerializablePtr, CSerializable, or any other class implementing "<<"
                                template <typename T>
                                inline void operator()(const T &ptr)
                                {
                                        (*m_stream) << ptr;
                                }
                        };

                        /** Behaves like std::copy but allows the source and target iterators to be of different types through static typecasting.
                          * \note As in std::copy, the target iterator must point to the first "slot" where to put the first transformed element, and sufficient space must be allocated in advance.
                          * \sa copy_container_typecasting
                          */
                        template<typename it_src, typename it_dst>
                        inline void copy_typecasting(it_src  first, it_src last,it_dst  target)
                        {
                                for (it_src i=first; i!=last ; ++i,++target)
                                        *target = static_cast<typename it_dst::value_type>(*i);
                        }

                        /** Copy all the elements in a container (vector, deque, list) into a different one performing the appropriate typecasting.
                          *  The target container is automatically resized to the appropriate size, and previous contents are lost.
                          *  This can be used to assign std::vector's of different types:
                          * \code
                          *   std::vector<int>    vi(10);
                          *   std::vector<float>  vf;
                          *   vf = vi;   // Compiler error
                          *   mrpt::utils::metaprogramming::copy_container_typecasting(v1,vf);  // Ok
                          * \endcode
                          */
                        template<typename src_container, typename dst_container>
                        inline void copy_container_typecasting(const src_container &src, dst_container &trg)
                        {
                                trg.resize( src.size() );
                                copy_typecasting(src.begin(),src.end(),trg.begin());
                        }

                        /** This class bypasses pointer access in iterators to pointers, thus allowing
                          * the use of algorithms that expect an object of class T with containers of T*.
                          * Although it may be used directly, use the bypassPointer function for better
                          * results and readability (since it most probably won't require template
                          * arguments).
                          */
                        template<typename T,typename U> class MemoryBypasserIterator    {
                        private:
                                T baseIterator;
                        public:
                                typedef typename T::iterator_category iterator_category;
                                typedef U value_type;
                                typedef typename T::difference_type difference_type;
                                typedef U *pointer;
                                typedef U &reference;
                                inline MemoryBypasserIterator(const T &bi):baseIterator(bi)     {}
                                inline reference operator*()    {
                                        return *(*baseIterator);
                                }
                                inline MemoryBypasserIterator<T,U> &operator++()        {
                                        ++baseIterator;
                                        return *this;
                                }
                                inline MemoryBypasserIterator<T,U> operator++(int)      {
                                        MemoryBypasserIterator it=*this;
                                        ++baseIterator;
                                        return it;
                                }
                                inline MemoryBypasserIterator<T,U> &operator--()        {
                                        --baseIterator;
                                        return *this;
                                }
                                inline MemoryBypasserIterator<T,U> operator--(int)      {
                                        MemoryBypasserIterator it=*this;
                                        --baseIterator;
                                        return *this;
                                }
                                inline MemoryBypasserIterator<T,U> &operator+=(difference_type off)     {
                                        baseIterator+=off;
                                        return *this;
                                }
                                inline MemoryBypasserIterator<T,U> operator+(difference_type off) const {
                                        return (MemoryBypasserIterator<T,U>(*this))+=off;
                                }
                                inline MemoryBypasserIterator<T,U> &operator-=(difference_type off)     {
                                        baseIterator-=off;
                                        return *this;
                                }
                                inline MemoryBypasserIterator<T,U> operator-(difference_type off) const {
                                        return (MemoryBypasserIterator<T,U>(*this))-=off;
                                }
                                inline difference_type operator-(const MemoryBypasserIterator<T,U> &it) const   {
                                        return baseIterator-it.baseIterator;
                                }
                                inline reference operator[](difference_type off) const  {
                                        return *(this+off);
                                }
                                inline bool operator==(const MemoryBypasserIterator<T,U> &i) const      {
                                        return baseIterator==i.baseIterator;
                                }
                                inline bool operator!=(const MemoryBypasserIterator<T,U> &i) const      {
                                        return baseIterator!=i.baseIterator;
                                }
                                inline bool operator<(const MemoryBypasserIterator<T,U> &i) const       {
                                        return baseIterator<i.baseIterator;
                                }
                        };

                        /** Sintactic sugar for MemoryBypasserIterator.
                          * For example, having the following declarations:
                          *             vector<double *> vec;
                          *             void modifyVal(double &v);
                          * The following sentence is not legal:
                          *             for_each(vec.begin(),vec.end(),&modifyVal)
                          * But this one is:
                          *             for_each(bypassPointer(vec.begin()),bypassPointer(vec.end()),&modifyVal)
                          */
                        template<typename U,typename T> inline MemoryBypasserIterator<T,U> bypassPointer(const T &baseIterator) {
                                return MemoryBypasserIterator<T,U>(baseIterator);
                        }

                        /** This template encapsulates a binary member function and a single object into a
                          * function expecting the two parameters of the member function.
                          * Don't use directly. Use the wrapMember function instead to avoid explicit
                          * template instantiation.
                          */
                        template<typename T,typename U1,typename U2,typename V> class BinaryMemberFunctionWrapper       {
                        private:
                                typedef T (V::*MemberFunction)(U1,U2);
                                V &obj;
                                MemberFunction func;
                        public:
                                typedef U1 first_argument_type;
                                typedef U2 second_argument_type;
                                typedef T result_type;
                                inline BinaryMemberFunctionWrapper(V &o,MemberFunction f):obj(o),func(f)        {}
                                inline T operator()(U1 p1,U2 p2)        {
                                        return (obj.*func)(p1,p2);
                                }
                        };
                        /** This template encapsulates an unary member function and a single object into a
                          * function expecting the parameter of the member function.
                          * Don't use directly. Use the wrapMember function instead.
                          */
                        template<typename T,typename U,typename V> class UnaryMemberFunctionWrapper     {
                        private:
                                typedef T (V::*MemberFunction)(U);
                                V &obj;
                                MemberFunction func;
                        public:
                                typedef U argument_type;
                                typedef T result_type;
                                inline UnaryMemberFunctionWrapper(V &o,MemberFunction f):obj(o),func(f) {}
                                inline T operator()(U p)        {
                                        return (obj.*func)(p);
                                }
                        };
                        /** This template encapsulates a member function without arguments and a single
                          * object into a function.
                          * Don't use directly. Use the wrapMember function instead.
                          */
                        template<typename T,typename V> class MemberFunctionWrapper     {
                        private:
                                typedef T (V::*MemberFunction)(void);
                                V &obj;
                                MemberFunction func;
                        public:
                                inline MemberFunctionWrapper(V &o,MemberFunction f):obj(o),func(f)      {}
                                inline T operator()()   {
                                        return (obj.*func)();
                                }
                        };
                        /** This function creates a function from an object and a member function.
                          * It has three overloads, for zero, one and two parameters in the function.
                          */
                        template<typename T,typename U1,typename U2,typename V> inline BinaryMemberFunctionWrapper<T,U1,U2,V> wrapMember(V &obj,T (V::*fun)(U1,U2))     {
                                return BinaryMemberFunctionWrapper<T,U1,U2,V>(obj,fun);
                        }
                        template<typename T,typename U,typename V> inline UnaryMemberFunctionWrapper<T,U,V> wrapMember(V &obj,T (V::*fun)(U))   {
                                return UnaryMemberFunctionWrapper<T,U,V>(obj,fun);
                        }
                        template<typename T,typename V> inline MemberFunctionWrapper<T,V> wrapMember(V &obj,T (V::*fun)(void))  {
                                return MemberFunctionWrapper<T,V>(obj,fun);
                        }

                        /** Equivalent of std::bind1st for functions with non-const arguments.
                          */
                        template<typename Op> class NonConstBind1st     {
                        private:
                                Op &op;
                                typename Op::first_argument_type &val;
                        public:
                                typedef typename Op::second_argument_type argument_type;
                                typedef typename Op::result_type result_type;
                                NonConstBind1st(Op &o,typename Op::first_argument_type &t):op(o),val(t) {}
                                inline result_type operator()(argument_type &s) {
                                        return op(val,s);
                                }
                        };
                        /** Use this function instead of directly calling NonConstBind1st.
                          */
                        template<typename Op> inline NonConstBind1st<Op> nonConstBind1st(Op &o,typename Op::first_argument_type &t)     {
                                return NonConstBind1st<Op>(o,t);
                        }
                        /** Equivalent of std::bind2nd for functions with non-const arguments.
                          */
                        template<typename Op> class NonConstBind2nd     {
                        private:
                                Op &op;
                                typename Op::second_argument_type &val;
                        public:
                                typedef typename Op::first_argument_type argument_type;
                                typedef typename Op::result_type result_type;
                                NonConstBind2nd(Op &o,typename Op::second_argument_type &t):op(o),val(t)        {}
                                inline result_type operator()(argument_type &f) {
                                        return op(f,val);
                                }
                        };
                        /** Do not directly use the NonConstBind2nd class directly. Use this function.
                          */
                        template<typename Op> inline NonConstBind2nd<Op> nonConstBind2nd(Op &o,typename Op::second_argument_type &t)    {
                                return NonConstBind2nd<Op>(o,t);
                        }

                } // end metaprogramming
        } // End of namespace
} // end of namespace
#endif

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