AdapterBase.hpp

/* This file is part of OpenKalman, a header-only C++ library for
 * Kalman filters and other recursive filters.
 *
 * Copyright (c) 2019-2025 Christopher Lee Ogden <ogden@gatech.edu>
 *
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at https://mozilla.org/MPL/2.0/.
 */

#ifndef OPENKALMAN_ADAPTERBASE_HPP
#define OPENKALMAN_ADAPTERBASE_HPP

#include "linear-algebra/traits/internal/library_base.hpp"

namespace OpenKalman::internal
{
#ifdef __cpp_concepts
  template<typename Derived, indexible Nested, indexible LibraryObject = Nested> requires
    (not std::is_rvalue_reference_v<Nested>)
#else
  template<typename Derived, typename Nested, typename LibraryObject = Nested>
#endif
  struct AdapterBase : library_base_t<Derived, LibraryObject>
  {

#ifndef __cpp_concepts
    static_assert(indexible<Nested>);
    static_assert(indexible<LibraryObject>);
    static_assert(not std::is_rvalue_reference_v<Nested>);
#endif

    constexpr
    AdapterBase() = default;


#ifdef __cpp_concepts
    template<typename Arg> requires
      (not std::is_base_of_v<Derived, std::decay_t<Arg>>) and
      std::constructible_from<Nested, Arg&&>
#else
    template<typename Arg, std::enable_if_t<
      (not std::is_base_of_v<Derived, std::decay_t<Arg>>) and
      stdex::constructible_from<Nested, Arg&&>, int> = 0>
#endif
    constexpr explicit
    AdapterBase(Arg&& arg) : nested_ {std::forward<Arg>(arg)} {}


#ifdef __cpp_explicit_this_parameter 
    template<typename Self>
    constexpr decltype(auto) nested_object(this Self&& self) { return std::forward<Self>(self).nested_; }
#else
    constexpr Nested& nested_object() & { return nested_; }

    constexpr const Nested& nested_object() const & { return nested_; }

    constexpr Nested&& nested_object() && { return std::move(*this).nested_; }

    constexpr const Nested&& nested_object() const && { return std::move(*this).nested_; }
#endif

  private:

    Nested nested_;

  };

}

#endif