oxmpl 0.6.0

The Open Motion-Planning Library but Oxidised
Documentation 
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// Copyright (c) 2025 Junior Sundar
//
// SPDX-License-Identifier: BSD-3-Clause

use std::{any::Any, fmt::Debug};

pub use crate::base::states::{
    compound_state::CompoundState, real_vector_state::RealVectorState, se2_state::SE2State,
    se3_state::SE3State, so2_state::SO2State, so3_state::SO3State,
};

pub trait DynClone {
    fn clone_box(&self) -> Box<dyn State>;
}

impl<T> DynClone for T
where
    T: State + Clone + 'static,
{
    fn clone_box(&self) -> Box<dyn State> {
        Box::new(self.clone())
    }
}

/// A marker trait for all state types in the planning library.
///
/// A `State` represents a single point, configuration, or snapshot of the system
/// being planned for.
///
/// Supertrait bounds:
/// - `DynClone`: States must be copyable as Dyn for runtime polymorphism.
///
/// > [!NOTE] (for self)
/// > A trait is not dyn-compatible if any of its methods return Self — unless it has a `where Self: Sized` bound.
pub trait State: DynClone + Debug + Any + Send + Sync + 'static {
    fn as_any(&self) -> &dyn Any;
}

impl Clone for Box<dyn State> {
    fn clone(&self) -> Self {
        self.clone_box()
    }
}