Use strongly-typed enum flags.

include/aikido/common.hpp

@@ -1,3 +1,4 @@
+#include "common/EnumFlags.hpp"
 #include "common/ExecutorMultiplexer.hpp"
 #include "common/ExecutorThread.hpp"
 #include "common/PseudoInverse.hpp"

include/aikido/common/EnumFlags.hpp

@@ -0,0 +1,44 @@
+#ifndef AIKIDO_COMMON_ENUMFLAGS_HPP_
+#define AIKIDO_COMMON_ENUMFLAGS_HPP_
+
+#include <type_traits>
+
+/// Enable bitwise operators for strongly-typed enums.
+///
+/// Adapted from
+/// http://blog.bitwigglers.org/using-enum-classes-as-type-safe-bitmasks/
+
+// clang-format off
+
+#define AIKIDO_ENABLE_BITWISE_OPERATORS(X)                                     \
+template<>                                                                     \
+struct EnableBitwiseOperators< X >                                             \
+{                                                                              \
+  static const bool enable = true;                                             \
+};
+
+template <typename Enum>
+struct EnableBitwiseOperators
+{
+  static const bool enable = false;
+};
+
+template <typename Enum>
+typename std::enable_if<EnableBitwiseOperators<Enum>::enable, Enum>::type
+operator&(Enum lhs, Enum rhs)
+{
+  using T = typename std::underlying_type<Enum>::type;
+  return static_cast<Enum>(static_cast<T>(lhs) & static_cast<T>(rhs));
+}
+
+template <typename Enum>
+typename std::enable_if<EnableBitwiseOperators<Enum>::enable, Enum>::type
+operator|(Enum lhs, Enum rhs)
+{
+  using T = typename std::underlying_type<Enum>::type;
+  return static_cast<Enum>(static_cast<T>(lhs) | static_cast<T>(rhs));
+}
+
+// clang-format on
+
+#endif // AIKIDO_COMMON_ENUMFLAGS_HPP_

include/aikido/planner/WorldStateSaver.hpp

@@ -1,27 +1,34 @@
 #ifndef AIKIDO_PLANNER_WORLDSTATESAVER_HPP_
 #define AIKIDO_PLANNER_WORLDSTATESAVER_HPP_
 
+#include "aikido/common/EnumFlags.hpp"
 #include "aikido/planner/World.hpp"
 
+/// Options to specify what WorldStateSaver should save.
+enum class WorldStateSaverOptions
+{
+  NONE = 0,
+  CONFIGURATIONS = 1 << 0,
+};
+
+AIKIDO_ENABLE_BITWISE_OPERATORS(WorldStateSaverOptions)
+
 namespace aikido {
 namespace planner {
 
 /// RAII class to save and restore a World's state.
 class WorldStateSaver
 {
 public:
-  /// Options to specify what WorldStateSaver should save.
-  enum Options
-  {
-    CONFIGURATIONS = 1 << 0,
-  };
+  using Options = WorldStateSaverOptions;
 
   /// Construct a WorldStateSaver and save the current state of the \c World.
   /// This state will be restored when WorldStateSaver is destructed.
   ///
   /// \param[in] world World to save state from and restore to.
   /// \param[in] options Options to specify what should be saved
-  explicit WorldStateSaver(World* world, int options = CONFIGURATIONS);
+  explicit WorldStateSaver(
+      World* world, Options options = Options::CONFIGURATIONS);
 
   virtual ~WorldStateSaver();
 
@@ -30,7 +37,7 @@ class WorldStateSaver
   World* mWorld;
 
   /// Options to specify what should be saved
-  int mOptions;
+  Options mOptions;
 
   /// Saved state
   World::State mWorldState;

include/aikido/statespace/dart/MetaSkeletonStateSaver.hpp

@@ -2,6 +2,17 @@
 #define AIKIDO_STATESPACE_DART_METASKELETONSTATESAVER_HPP_
 
 #include <dart/dynamics/MetaSkeleton.hpp>
+#include "aikido/common/EnumFlags.hpp"
+
+/// Options to specify what MetaSkeletonStateSaver should save.
+enum class MetaSkeletonStateSaverOptions
+{
+  NONE = 0,
+  POSITIONS = 1 << 0,
+  POSITION_LIMITS = 1 << 1,
+};
+
+AIKIDO_ENABLE_BITWISE_OPERATORS(MetaSkeletonStateSaverOptions)
 
 namespace aikido {
 namespace statespace {
@@ -12,12 +23,7 @@ namespace dart {
 class MetaSkeletonStateSaver
 {
 public:
-  /// Options to specify what MetaSkeletonStateSaver should save.
-  enum Options
-  {
-    POSITIONS = 1 << 0,
-    POSITION_LIMITS = 1 << 1,
-  };
+  using Options = MetaSkeletonStateSaverOptions;
 
   /// Construct a MetaSkeletonStateSaver and save the current state of the \c
   /// MetaSkeleton. This state will be restored when MetaSkeletonStateSaver is
@@ -27,7 +33,7 @@ class MetaSkeletonStateSaver
   /// \param[in] options Options to specify what should be saved
   explicit MetaSkeletonStateSaver(
       ::dart::dynamics::MetaSkeletonPtr metaskeleton,
-      int options = POSITIONS | POSITION_LIMITS);
+      Options options = Options::POSITIONS | Options::POSITION_LIMITS);
 
   virtual ~MetaSkeletonStateSaver();
 
@@ -43,7 +49,7 @@ class MetaSkeletonStateSaver
   ::dart::dynamics::MetaSkeletonPtr mMetaSkeleton;
 
   /// Options to specify what should be saved
-  int mOptions;
+  Options mOptions;
 
   /// Saved positions
   Eigen::VectorXd mPositions;

src/planner/WorldStateSaver.cpp

@@ -3,19 +3,19 @@
 namespace aikido {
 namespace planner {
 
-WorldStateSaver::WorldStateSaver(World* world, int options)
+WorldStateSaver::WorldStateSaver(World* world, Options options)
   : mWorld{std::move(world)}, mOptions{options}
 {
   if (!mWorld)
     throw std::invalid_argument("World must not be nullptr.");
 
-  if (mOptions & Options::CONFIGURATIONS)
+  if ((mOptions & Options::CONFIGURATIONS) != Options::NONE)
     mWorldState = mWorld->getState();
 }
 
 WorldStateSaver::~WorldStateSaver()
 {
-  if (mOptions & Options::CONFIGURATIONS)
+  if ((mOptions & Options::CONFIGURATIONS) != Options::NONE)
     mWorld->setState(mWorldState);
 }
 

src/statespace/dart/MetaSkeletonStateSaver.cpp

@@ -7,13 +7,15 @@ namespace dart {
 
 //==============================================================================
 MetaSkeletonStateSaver::MetaSkeletonStateSaver(
-    ::dart::dynamics::MetaSkeletonPtr metaskeleton, int options)
+    ::dart::dynamics::MetaSkeletonPtr metaskeleton, Options options)
   : mMetaSkeleton(std::move(metaskeleton)), mOptions(std::move(options))
 {
-  if (mOptions & Options::POSITIONS)
+  if ((mOptions & Options::POSITIONS) != Options::NONE)
+  {
     mPositions = mMetaSkeleton->getPositions();
+  }
 
-  if (mOptions & Options::POSITION_LIMITS)
+  if ((mOptions & Options::POSITION_LIMITS) != Options::NONE)
   {
     mPositionLowerLimits = mMetaSkeleton->getPositionLowerLimits();
     mPositionUpperLimits = mMetaSkeleton->getPositionUpperLimits();
@@ -23,7 +25,7 @@ MetaSkeletonStateSaver::MetaSkeletonStateSaver(
 //==============================================================================
 MetaSkeletonStateSaver::~MetaSkeletonStateSaver()
 {
-  if (mOptions & Options::POSITIONS)
+  if ((mOptions & Options::POSITIONS) != Options::NONE)
   {
     if (static_cast<std::size_t>(mPositions.size())
         != mMetaSkeleton->getNumDofs())
@@ -35,7 +37,7 @@ MetaSkeletonStateSaver::~MetaSkeletonStateSaver()
     mMetaSkeleton->setPositions(mPositions);
   }
 
-  if (mOptions & Options::POSITION_LIMITS)
+  if ((mOptions & Options::POSITION_LIMITS) != Options::NONE)
   {
     if (static_cast<std::size_t>(mPositionLowerLimits.size())
         != mMetaSkeleton->getNumDofs())

tests/statespace/dart/test_MetaSkeletonStateSaver.cpp

@@ -54,7 +54,8 @@ TEST_F(MetaSkeletonStateSaverTest, Flags_None)
   EXPECT_DOUBLE_EQ(3., mSkeleton->getPositionUpperLimit(0));
 
   {
-    auto saver = MetaSkeletonStateSaver(mSkeleton, 0);
+    auto saver = MetaSkeletonStateSaver(
+        mSkeleton, MetaSkeletonStateSaver::Options::NONE);
     DART_UNUSED(saver);
 
     mSkeleton->setPositionLowerLimit(0, 1.);