dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/common/Observer.hpp

@@ -0,0 +1,85 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_OBSERVER_HPP_
+#define DART_COMMON_OBSERVER_HPP_
+
+#include <set>
+
+namespace dart {
+namespace common {
+
+class Subject;
+
+/// The Observer class should be inherited by any class that wants to respond
+/// in a customized way to the destruction of a Subject. Simply override the
+/// Observer::handleDestructionNotification() function to customize how your
+/// class responds to the destruction of a Subject.
+///
+/// dart::sub_ptr is a templated smart pointer that will change itself into a
+/// nullptr when its Subject is destroyed. It offers one of the easiest ways to
+/// take advantage of the Subject/Observer pattern.
+class Observer
+{
+public:
+  friend class Subject;
+
+  /// Destructor will notify all Subjects that it is destructing
+  virtual ~Observer();
+
+protected:
+  /// Called whenever a Subject is destroyed (or sends out a destruction
+  /// notification). Override handleDestructionNotification() in order to
+  /// customize your class's response to destruction notifications.
+  void receiveDestructionNotification(const Subject* _subject);
+
+  /// Called by receiveDestructionNotification(). Override this function to
+  /// customize your class's response to destruction notifications.
+  virtual void handleDestructionNotification(const Subject* _subject);
+
+  /// Add a Subject for this Observer
+  void addSubject(const Subject* _subject);
+
+  /// Remove a Subject from this Observer
+  void removeSubject(const Subject* _subject);
+
+  /// Remove all Subjects from this Observer
+  void removeAllSubjects();
+
+  /// List of current Subjects for this Observer
+  std::set<const Subject*> mSubjects;
+};
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_OBSERVER_HPP_

include/dart/common/Optional.hpp

@@ -0,0 +1,48 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_OPTIONAL_HPP_
+#define DART_COMMON_OPTIONAL_HPP_
+
+#include <optional>
+
+namespace dart {
+namespace common {
+
+/// \deprecated Use std::optional instead
+template <class T>
+using optional = std::optional<T>;
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_OPTIONAL_HPP_

include/dart/common/Platform.hpp

@@ -0,0 +1,92 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_PLATFORM_HPP_
+#define DART_COMMON_PLATFORM_HPP_
+
+// Operating systems and architectures
+#if defined(__linux__)
+
+  #define DART_OS_LINUX 1
+  #if __x86_64__ || __ppc64__
+    #define DART_ARCH_64BITS 1
+  #else
+    #define DART_ARCH_32BITS 1
+  #endif
+
+#elif defined(__APPLE__)
+
+  #define DART_OS_MACOS 1
+  #if __LP64__
+    #define DART_ARCH_64BITS 1
+  #else
+    #define DART_ARCH_32BITS 1
+  #endif
+
+#elif defined(_WIN32)
+
+  #define DART_OS_WINDOWS 1
+  #define DART_ARCH_32BITS 1
+
+#elif defined(_WIN64)
+
+  #define DART_OS_WINDOWS 1
+  #define DART_ARCH_64BITS 1
+
+#else
+
+  #error Unsupported platform.
+
+#endif // if defined(__linux__)
+
+// Define undefined preprocessors as 0
+#ifndef DART_OS_WINDOWS
+  #define DART_OS_WINDOWS 0
+#endif
+
+#ifndef DART_OS_LINUX
+  #define DART_OS_LINUX 0
+#endif
+
+#ifndef DART_OS_MACOS
+  #define DART_OS_MACOS 0
+#endif
+
+#ifndef DART_ARCH_32BITS
+  #define DART_ARCH_32BITS 0
+#endif
+
+#ifndef DART_ARCH_64BITS
+  #define DART_ARCH_64BITS 0
+#endif
+
+#endif // DART_COMMON_PLATFORM_HPP_

include/dart/common/PoolAllocator.hpp

@@ -0,0 +1,141 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_POOLALLOCATOR_HPP_
+#define DART_COMMON_POOLALLOCATOR_HPP_
+
+#include <dart/common/MemoryAllocator.hpp>
+#include <dart/common/MemoryAllocatorDebugger.hpp>
+
+#include <array>
+#include <mutex>
+
+namespace dart::common {
+
+/// Memory allocator optimized for allocating many objects of the same or
+/// similar sizes
+class PoolAllocator : public MemoryAllocator
+{
+public:
+  using Debug = MemoryAllocatorDebugger<PoolAllocator>;
+
+  /// Constructor
+  ///
+  /// \param[in] baseAllocator: (optional) Base memory allocator.
+  /// \param[in] initialAllocation: (optional) Bytes to initially allocate.
+  explicit PoolAllocator(
+      MemoryAllocator& baseAllocator = MemoryAllocator::GetDefault());
+
+  /// Destructor
+  ~PoolAllocator() override;
+
+  DART_STRING_TYPE(PoolAllocator);
+
+  /// Returns the base allocator
+  [[nodiscard]] const MemoryAllocator& getBaseAllocator() const;
+
+  /// Returns the base allocator
+  [[nodiscard]] MemoryAllocator& getBaseAllocator();
+
+  /// Returns the count of allocated memory blocks
+  [[nodiscard]] int getNumAllocatedMemoryBlocks() const;
+
+  // Documentation inherited
+  [[nodiscard]] void* allocate(size_t bytes) noexcept override;
+
+  // Documentation inherited
+  void deallocate(void* pointer, size_t bytes) override;
+
+  // Documentation inherited
+  void print(std::ostream& os = std::cout, int indent = 0) const override;
+
+private:
+  struct MemoryUnit
+  {
+    /// Pointer to next memory block
+    MemoryUnit* mNext;
+  };
+
+  struct MemoryBlock
+  {
+    /// Pointer to the first memory unit
+    MemoryUnit* mMemoryUnits;
+  };
+
+  inline static constexpr int HEAP_COUNT = 128;
+
+  inline static constexpr size_t MAX_UNIT_SIZE = 1024;
+
+  inline static constexpr size_t BLOCK_SIZE = 16 * MAX_UNIT_SIZE;
+
+  inline static std::array<size_t, HEAP_COUNT> mUnitSizes;
+
+  inline static std::array<int, MAX_UNIT_SIZE + 1> mMapSizeToHeapIndex;
+
+  inline static bool mInitialized = false;
+
+  /// The base allocator to allocate memory chunk
+  MemoryAllocator& mBaseAllocator;
+
+  /// Mutex for for mNumAllocatedMemoryBlocks, mNumMemoryBlocks,
+  /// mFreeMemoryUnits, and mAllocatedMemoryBlocks.
+  mutable std::mutex mMutex;
+
+  /// The array of memory blocks.
+  ///
+  /// This array is a placeholder of allocated memory blocks. Initially this
+  /// contains nullptr as the elements.
+  MemoryBlock* mMemoryBlocks;
+
+  /// The size of mMemoryBlocks.
+  ///
+  /// This is simply the current size of mMemoryBlocks. The value doesn't mean
+  /// the actual count of the allocated memory blocks.
+  int mMemoryBlocksSize;
+
+  /// The count of the allocated memory blocks in use.
+  int mCurrentMemoryBlockIndex;
+
+  /// List of free memory units.
+  ///
+  /// The size of mFreeMemoryUnits is fixed to HEAP_COUNT where each element is
+  /// for a specific memory size. For example, the first element has the free
+  /// memory unit for 8 bytes while the last element has the free memory unit
+  /// for 1024 bytes.
+  ///
+  /// The size must be the same of mUnitSizes.
+  std::array<MemoryUnit*, HEAP_COUNT> mFreeMemoryUnits;
+};
+
+} // namespace dart::common
+
+#endif // DART_COMMON_POOLALLOCATOR_HPP_

include/dart/common/Profile.hpp

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <dart/config.hpp>
+
+#if DART_BUILD_PROFILE
+  #include <tracy/Tracy.hpp>
+
+  #define DART_PROFILE_FRAME FrameMark
+  #define DART_PROFILE_SCOPED ZoneScoped
+  #define DART_PROFILE_SCOPED_N(name) ZoneScopedN(name)
+
+#else // no-op
+
+  #define DART_PROFILE_FRAME
+  #define DART_PROFILE_SCOPED
+  #define DART_PROFILE_SCOPED_N(name)
+
+#endif
+
+namespace dart::common {
+
+//
+
+} // namespace dart::common

include/dart/common/ProxyAspect.hpp

@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_PROXYASPECT_HPP_
+#define DART_COMMON_PROXYASPECT_HPP_
+
+#include <dart/common/detail/ProxyAspect.hpp>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+template <class CompositeT, typename StateT>
+using ProxyStateAspect = detail::ProxyStateAspect<
+    common::CompositeTrackingAspect<CompositeT>,
+    CompositeT,
+    StateT>;
+
+//==============================================================================
+template <class CompositeT, typename PropertiesT>
+using ProxyPropertiesAspect = detail::ProxyPropertiesAspect<
+    common::CompositeTrackingAspect<CompositeT>,
+    CompositeT,
+    PropertiesT>;
+
+//==============================================================================
+template <class CompositeT, typename StateT, typename PropertiesT>
+class ProxyStateAndPropertiesAspect : public detail::ProxyPropertiesAspect<
+                                          ProxyStateAspect<CompositeT, StateT>,
+                                          CompositeT,
+                                          PropertiesT>
+{
+public:
+  using State = StateT;
+  using Properties = PropertiesT;
+  using CompositeType = CompositeT;
+
+  using AspectStateImpl = ProxyStateAspect<CompositeType, State>;
+  using AspectPropertiesImpl = detail::
+      ProxyPropertiesAspect<AspectStateImpl, CompositeType, Properties>;
+
+  using Base = AspectPropertiesImpl;
+
+  virtual ~ProxyStateAndPropertiesAspect() = default;
+
+  // Forwarding constructor
+  template <typename... Args>
+  ProxyStateAndPropertiesAspect(Args&&... args)
+    : Base(std::forward<Args>(args)...)
+  {
+    // Do nothing
+  }
+
+  // Documentation inherited
+  std::unique_ptr<Aspect> cloneAspect() const override
+  {
+    return std::make_unique<ProxyStateAndPropertiesAspect>();
+  }
+};
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_PROXYASPECT_HPP_

include/dart/common/RequiresAspect.hpp

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_REQUIRESASPECT_HPP_
+#define DART_COMMON_REQUIRESASPECT_HPP_
+
+#include <dart/common/ClassWithVirtualBase.hpp>
+#include <dart/common/SpecializedForAspect.hpp>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+/// RequiresAspect allows classes that inherit Composite to know which Aspects
+/// are required for their operation. This guarantees that there is no way for
+/// a required Aspect do not get unexpectedly removed from their composite.
+///
+/// Required Aspects are also automatically specialized for.
+template <class... OtherRequiredAspects>
+class RequiresAspect
+{
+};
+
+//==============================================================================
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+template <class ReqAspect>
+class RequiresAspect<ReqAspect> : public virtual SpecializedForAspect<ReqAspect>
+{
+public:
+  /// Default constructor. This is where the base Composite is informed that
+  /// the Aspect type is required.
+  RequiresAspect();
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+//==============================================================================
+template <class ReqAspect1, class... OtherReqAspects>
+class RequiresAspect<ReqAspect1, OtherReqAspects...>
+  : public CompositeJoiner<
+        Virtual<RequiresAspect<ReqAspect1>>,
+        Virtual<RequiresAspect<OtherReqAspects...>>>
+{
+};
+
+} // namespace common
+} // namespace dart
+
+#include <dart/common/detail/RequiresAspect.hpp>
+
+#endif // DART_COMMON_REQUIRESASPECT_HPP_