dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/common/detail/ProxyAspect.hpp

@@ -0,0 +1,172 @@
+/*
+ * 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_DETAIL_PROXYASPECT_HPP_
+#define DART_COMMON_DETAIL_PROXYASPECT_HPP_
+
+#include <dart/common/Aspect.hpp>
+
+namespace dart {
+namespace common {
+namespace detail {
+
+//==============================================================================
+template <class BaseT, class CompositeT, typename StateT>
+class ProxyStateAspect : public BaseT
+{
+public:
+  using Base = BaseT;
+  using CompositeType = CompositeT;
+  using State = StateT;
+
+  virtual ~ProxyStateAspect() = default;
+
+  /// General constructor
+  template <typename... Args>
+  ProxyStateAspect(Args&&... args)
+    : Base(std::forward<Args>(args)...), mProxyState()
+  {
+    // Do nothing
+  }
+
+  // Documentation inherited
+  void setAspectState(const Aspect::State& state) override final
+  {
+    mProxyState.set(static_cast<const State&>(state));
+  }
+
+  // Documentation inherited
+  const Aspect::State* getAspectState() const override final
+  {
+    return &mProxyState;
+  }
+
+  // Documentation inherited
+  std::unique_ptr<Aspect> cloneAspect() const override
+  {
+    return std::make_unique<ProxyStateAspect>();
+  }
+
+protected:
+  /// Reconfigure the Aspect to link it to this Aspect's new Composite
+  void setComposite(Composite* newComposite) override
+  {
+    Base::setComposite(newComposite);
+
+    // Check if the Composite is the correct Owner type
+    typename State::Owner* owner
+        = dynamic_cast<typename State::Owner*>(newComposite);
+
+    if (owner && mProxyState.getOwner() != owner) {
+      // Link the ProxyState to its new owner
+      mProxyState = State(owner, mProxyState.get());
+    }
+  }
+
+  /// Reconfigure the Aspect to unlink it from this Aspect's old Composite
+  void loseComposite(Composite* oldComposite) override
+  {
+    mProxyState = State(mProxyState.get());
+    Base::loseComposite(oldComposite);
+  }
+
+  /// Proxy state for this Aspect
+  State mProxyState;
+};
+
+//==============================================================================
+template <class BaseT, class CompositeT, typename PropertiesT>
+class ProxyPropertiesAspect : public BaseT
+{
+public:
+  using Base = BaseT;
+  using CompositeType = CompositeT;
+  using Properties = PropertiesT;
+
+  virtual ~ProxyPropertiesAspect() = default;
+
+  /// General constructor
+  template <typename... Args>
+  ProxyPropertiesAspect(Args&&... args)
+    : Base(std::forward<Args>(args)...), mProxyProperties()
+  {
+    // Do nothing
+  }
+
+  // Documentation inherited
+  void setAspectProperties(const Aspect::Properties& properties) override final
+  {
+    mProxyProperties.set(static_cast<const Properties&>(properties));
+  }
+
+  // Documentation inherited
+  const Aspect::Properties* getAspectProperties() const override final
+  {
+    return &mProxyProperties;
+  }
+
+  // Documentation inherited
+  std::unique_ptr<Aspect> cloneAspect() const override
+  {
+    return std::make_unique<ProxyPropertiesAspect>();
+  }
+
+protected:
+  /// Reconfigure the Aspect to link it to this Aspect's new Composite
+  void setComposite(Composite* newComposite) override
+  {
+    Base::setComposite(newComposite);
+    typename Properties::Owner* owner
+        = dynamic_cast<typename Properties::Owner*>(newComposite);
+
+    if (owner && mProxyProperties.getOwner() != owner) {
+      // Link the ProxyProperties to its new owner
+      mProxyProperties = Properties(owner, mProxyProperties.get());
+    }
+  }
+
+  /// Reconfigure the Aspect to unlink it from this Aspect's old Composite
+  void loseComposite(Composite* oldComposite) override
+  {
+    mProxyProperties = Properties(mProxyProperties.get());
+    Base::loseComposite(oldComposite);
+  }
+
+  /// Proxy properties for this Aspect
+  Properties mProxyProperties;
+};
+
+} // namespace detail
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_PROXYASPECT_HPP_

include/dart/common/detail/RequiresAspect.hpp

@@ -0,0 +1,51 @@
+/*
+ * 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_DETAIL_REQUIRESASPECT_HPP_
+#define DART_COMMON_DETAIL_REQUIRESASPECT_HPP_
+
+#include <dart/common/RequiresAspect.hpp>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+template <class ReqAspect>
+RequiresAspect<ReqAspect>::RequiresAspect()
+{
+  Composite::mRequiredAspects.insert(typeid(ReqAspect));
+}
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_REQUIRESASPECT_HPP_

include/dart/common/detail/SharedLibraryManager.hpp

@@ -0,0 +1,106 @@
+/*
+ * 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_DETAIL_SHAREDLIBRARYMANAGER_HPP_
+#define DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
+
+#include <dart/common/Deprecated.hpp>
+#include <dart/common/Filesystem.hpp>
+#include <dart/common/Singleton.hpp>
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+
+namespace dart {
+namespace common {
+
+class SharedLibrary;
+
+namespace detail {
+
+class SharedLibraryManager final : public Singleton<SharedLibraryManager>
+{
+public:
+  /// Loads the shared library with the specified path.
+  ///
+  /// \param[in] path The path to the shared library. If the path doesn't
+  /// include the extension, this function will use the best guess depending on
+  /// the OS (e.g., '.so' for Linux, '.dylib' for macOS, and '.dll' for
+  /// Windows).
+  /// \return Pointer to the shared library upon success. Otherwise, returns
+  /// nullptr.
+  /// \deprecated Deprecated in 6.10. Please use load(const std::string&)
+  /// instead.
+  DART_DEPRECATED(6.10)
+  std::shared_ptr<SharedLibrary> load(const common::filesystem::path& path);
+
+  /// Loads the shared library with the specified path.
+  ///
+  /// \param[in] path The path to the shared library. If the path doesn't
+  /// include the extension, this function will use the best guess depending on
+  /// the OS (e.g., '.so' for Linux, '.dylib' for macOS, and '.dll' for
+  /// Windows).
+  /// \return Pointer to the shared library upon success. Otherwise, returns
+  /// nullptr.
+  std::shared_ptr<SharedLibrary> load(const std::string& path);
+
+protected:
+  friend class Singleton<SharedLibraryManager>;
+
+protected:
+  struct FileSystemHash
+  {
+    size_t operator()(const ::dart::common::filesystem::path& p) const
+    {
+      return ::dart::common::filesystem::hash_value(p);
+    }
+  };
+
+  /// Map from library path to the library instances.
+  std::unordered_map<
+      common::filesystem::path,
+      std::weak_ptr<SharedLibrary>,
+      FileSystemHash>
+      mLibraries;
+  // TODO(JS): Remove this in DART 7.
+
+  /// Map from library path to the library instances.
+  std::unordered_map<std::string, std::weak_ptr<SharedLibrary>>
+      mSharedLibraries;
+};
+
+} // namespace detail
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_

include/dart/common/detail/Signal.hpp

@@ -0,0 +1,242 @@
+/*
+ * 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_DETAIL_SIGNAL_HPP_
+#define DART_COMMON_DETAIL_SIGNAL_HPP_
+
+#include <vector>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+Signal<_Res(_ArgTypes...), Combiner>::Signal()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+Signal<_Res(_ArgTypes...), Combiner>::~Signal()
+{
+  disconnectAll();
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+Connection Signal<_Res(_ArgTypes...), Combiner>::connect(const SlotType& slot)
+{
+  auto newConnectionBody = std::make_shared<ConnectionBodyType>(*this, slot);
+  mConnectionBodies.insert(newConnectionBody);
+
+  return Connection(std::move(newConnectionBody));
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+Connection Signal<_Res(_ArgTypes...), Combiner>::connect(SlotType&& slot)
+{
+  auto newConnectionBody = std::make_shared<ConnectionBodyType>(
+      *this, std::forward<SlotType>(slot));
+  mConnectionBodies.insert(newConnectionBody);
+
+  return Connection(std::move(newConnectionBody));
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+void Signal<_Res(_ArgTypes...), Combiner>::disconnect(
+    const Connection& connection) const
+{
+  connection.disconnect();
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+void Signal<_Res(_ArgTypes...), Combiner>::disconnect(
+    const std::shared_ptr<Signal::ConnectionBodyType>& connectionBody)
+{
+  mConnectionBodies.erase(connectionBody);
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+void Signal<_Res(_ArgTypes...), Combiner>::disconnectAll()
+{
+  mConnectionBodies.clear();
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+void Signal<_Res(_ArgTypes...), Combiner>::cleanupConnections()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+std::size_t Signal<_Res(_ArgTypes...), Combiner>::getNumConnections() const
+{
+  return mConnectionBodies.size();
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+template <typename... ArgTypes>
+_Res Signal<_Res(_ArgTypes...), Combiner>::raise(ArgTypes&&... args)
+{
+  std::vector<ResultType> res(mConnectionBodies.size());
+  auto resIt = res.begin();
+
+  for (const auto& connectionBody : mConnectionBodies) {
+    *(resIt++) = connectionBody->getSlot()(std::forward<ArgTypes>(args)...);
+  }
+
+  return Combiner<ResultType>::process(res.begin(), resIt);
+}
+
+//==============================================================================
+template <typename _Res, typename... _ArgTypes, template <class> class Combiner>
+template <typename... Args>
+_Res Signal<_Res(_ArgTypes...), Combiner>::operator()(Args&&... args)
+{
+  return raise(std::forward<Args>(args)...);
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+Signal<void(_ArgTypes...)>::Signal()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+Signal<void(_ArgTypes...)>::~Signal()
+{
+  disconnectAll();
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+Connection Signal<void(_ArgTypes...)>::connect(const SlotType& slot)
+{
+  auto newConnectionBody = std::make_shared<ConnectionBodyType>(*this, slot);
+  mConnectionBodies.insert(newConnectionBody);
+
+  return Connection(std::move(newConnectionBody));
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+Connection Signal<void(_ArgTypes...)>::connect(SlotType&& slot)
+{
+  auto newConnectionBody = std::make_shared<ConnectionBodyType>(
+      *this, std::forward<SlotType>(slot));
+  mConnectionBodies.insert(newConnectionBody);
+
+  return Connection(std::move(newConnectionBody));
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+void Signal<void(_ArgTypes...)>::disconnect(const Connection& connection) const
+{
+  connection.disconnect();
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+void Signal<void(_ArgTypes...)>::disconnect(
+    const std::shared_ptr<Signal::ConnectionBodyType>& connectionBody)
+{
+  mConnectionBodies.erase(connectionBody);
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+void Signal<void(_ArgTypes...)>::disconnectAll()
+{
+  mConnectionBodies.clear();
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+void Signal<void(_ArgTypes...)>::cleanupConnections()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+std::size_t Signal<void(_ArgTypes...)>::getNumConnections() const
+{
+  return mConnectionBodies.size();
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+template <typename... Args>
+void Signal<void(_ArgTypes...)>::raise(Args&&... args)
+{
+  for (const auto& connectionBody : mConnectionBodies) {
+    connectionBody->getSlot()(std::forward<Args>(args)...);
+  }
+}
+
+//==============================================================================
+template <typename... _ArgTypes>
+template <typename... Args>
+void Signal<void(_ArgTypes...)>::operator()(Args&&... args)
+{
+  raise(std::forward<Args>(args)...);
+}
+
+//==============================================================================
+template <typename T>
+SlotRegister<T>::SlotRegister(SignalType& signal) : mSignal(signal)
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename T>
+Connection SlotRegister<T>::connect(const SlotType& slot)
+{
+  return mSignal.connect(slot);
+}
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_SIGNAL_HPP_

include/dart/common/detail/Singleton-impl.hpp

@@ -0,0 +1,74 @@
+/*
+ * 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_DETAIL_SINGLETON_HPP_
+#define DART_COMMON_DETAIL_SINGLETON_HPP_
+
+#include <dart/common/Singleton.hpp>
+
+#include <utility>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+template <typename T>
+T* Singleton<T>::mInstance = nullptr;
+
+//==============================================================================
+template <typename T>
+template <typename... Args>
+T& Singleton<T>::getSingleton(Args... _args)
+{
+  // http://stackoverflow.com/questions/1008019/c-singleton-design-pattern
+
+  // Guaranteed to be destroyed and instantiated on first use.
+  if (mInstance == nullptr) {
+    static T instance(std::forward<Args>(_args)...);
+    mInstance = &instance;
+  }
+
+  return *mInstance;
+}
+
+//==============================================================================
+template <typename T>
+template <typename... Args>
+T* Singleton<T>::getSingletonPtr(Args... _args)
+{
+  return &getSingleton(std::forward<Args>(_args)...);
+}
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_SINGLETON_HPP_