aligator  0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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clone.hpp
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1
2#pragma once
3
4#include "aligator/fwd.hpp"
5
6namespace aligator {
12template <typename T> struct Cloneable {
13 // non-virtual
14 shared_ptr<T> clone() const {
15 return shared_ptr<T>(static_cast<T *>(clone_impl()));
16 }
17
18protected:
19 virtual Cloneable *clone_impl() const = 0;
20};
21
22} // namespace aligator
fwd.hpp
Forward declarations.
aligator
Main package namespace.
Definition action-model-wrap.hpp:12
aligator::Cloneable
Mixin which makes a class/class hierarchy cloneable.
Definition clone.hpp:12
aligator::Cloneable::clone_impl
virtual Cloneable * clone_impl() const =0
aligator::Cloneable::clone
shared_ptr< T > clone() const
Definition clone.hpp:14