robot_system_container.h

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#pragma once

template <class RobotSystemT> class RobotSystemContainer {
  // Add friend classes that can use the robot system
  template <class RobotSystemT1, class LogicStateMachineT>
  friend class InternalActionFunctor;

  template <class EventT, class RobotSystemT1, class LogicStateMachineT>
  friend class ActionFunctor;

  template <class EventT, class RobotSystemT1, class LogicStateMachineT>
  friend class GuardFunctor;

  template <class RobotSystemT1, class LogicStateMachineT>
  friend class EventAgnosticActionFunctor;

  template <class RobotSystemT1, class LogicStateMachineT>
  friend class EventAgnosticGuardFunctor;

protected:
  RobotSystemT &robot_system_;

  RobotSystemT &operator()() { return robot_system_; }

public:
  RobotSystemContainer(RobotSystemT &robot_system)
      : robot_system_(robot_system) {}
};