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unitree_SDK/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp

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+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef CYCLONEDDS_DDS_TOPIC_TOPICINSTANCE_HPP_
+#define CYCLONEDDS_DDS_TOPIC_TOPICINSTANCE_HPP_
+
+/**
+ * @file
+ */
+
+/*
+ * OMG PSM class declaration
+ */
+#include <dds/topic/TopicInstance.hpp>
+
+// Implementation
+
+namespace dds
+{
+namespace topic
+{
+
+template <typename T>
+TopicInstance<T>::TopicInstance() : h_(dds::core::null) {}
+
+template <typename T>
+TopicInstance<T>::TopicInstance(const ::dds::core::InstanceHandle& h)
+    : h_(h), sample_() {}
+
+template <typename T>
+TopicInstance<T>::TopicInstance(const ::dds::core::InstanceHandle& h, const T& sample)
+    : h_(h), sample_(sample) { }
+
+template <typename T>
+TopicInstance<T>::operator const ::dds::core::InstanceHandle() const
+{
+    return h_;
+}
+
+template <typename T>
+const ::dds::core::InstanceHandle TopicInstance<T>::handle() const
+{
+    return h_;
+}
+
+template <typename T>
+void TopicInstance<T>::handle(const ::dds::core::InstanceHandle& h)
+{
+    h_ = h;
+}
+
+template <typename T>
+const T& TopicInstance<T>::sample() const
+{
+    return sample_;
+}
+
+template <typename T>
+T& TopicInstance<T>::sample()
+{
+    return sample_;
+}
+
+template <typename T>
+void TopicInstance<T>::sample(const T& sample)
+{
+    sample_ = sample;
+}
+
+}
+}
+
+// End of implementation
+
+#endif /* CYCLONEDDS_DDS_TOPIC_TOPICINSTANCE_HPP_ */